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Applications/Official/DEV_FW/source/grnch/airmouse/LICENSE
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Applications/Official/DEV_FW/source/grnch/airmouse/README.md
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# Flipper Air Mouse
## Brief
> "You can turn anything into an air mouse if you're brave enough"
— Piper, a.k.a. Pez
Naturally, the quote above applies to [Flipper](https://flipperzero.one/) as well.
## What?
The app allows you to turn your Flipper into a USB or Bluetooth air mouse (you do need an extra module, see the Hardware section below)...
Using it is really simple:
* Connect the Flipper via a USB cable and pick `USB`, or pick `Bluetooth` and pair it with your PC;
* Hold the Flipper in your hand with the buttons pointing towards the screen;
* Wave your Flipper like you don't care to move the cursor;
* Up button for Left mouse click;
* Down button for Right mouse click;
* Center button for Middle mouse click;
* Use calibration menu option if you notice significant drift (place your Flipper onto a level surface, make sure it doesn't move, run this option, wait 2 seconds, done).
See early prototype [in action](https://www.youtube.com/watch?v=DdxAmmsYfMA).
## Hardware
The custom module is using Bosch BMI160 accelerometer/gyroscope chip connected via I2C.
Take a look into the [schematic](https://github.com/ginkage/FlippAirMouse/tree/main/schematic) folder for Gerber, BOM and CPL files, so you can order directly from JLCPCB.
Original idea:
![What I thought it would look like](https://github.com/ginkage/FlippAirMouse/blob/main/schematic/schematic.png)
Expectation:
![What EDA though it would look like](https://github.com/ginkage/FlippAirMouse/blob/main/schematic/render.png)
Reality:
![What it looks like](https://github.com/ginkage/FlippAirMouse/blob/main/schematic/flipper.jpg)
## Software
The code is based on the original Bosch [driver](https://github.com/BoschSensortec/BMI160_driver/) and an orientation tracking implementation from the [Cardboard](https://github.com/googlevr/cardboard/tree/master/sdk/sensors) project
If you're familiar with Flipper applications, start in the [firmware](https://github.com/flipperdevices/flipperzero-firmware) checkout folder and do the following:
```
cd applications/plugins
git clone https://github.com/ginkage/FlippAirMouse
cd ../..
./fbt fap_air_mouse
```
If you're not familiar with those, just grab a `fap` file from Releases.
Applications/Official/DEV_FW/source/grnch/airmouse/air_mouse.c
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#include "air_mouse.h"
#include <furi.h>
#include <dolphin/dolphin.h>
#include "tracking/imu/imu.h"
#define TAG "AirMouseApp"
enum AirMouseSubmenuIndex {
AirMouseSubmenuIndexBtMouse,
AirMouseSubmenuIndexUsbMouse,
AirMouseSubmenuIndexCalibration,
};
void air_mouse_submenu_callback(void* context, uint32_t index) {
furi_assert(context);
AirMouse* app = context;
if(index == AirMouseSubmenuIndexBtMouse) {
app->view_id = AirMouseViewBtMouse;
view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewBtMouse);
} else if(index == AirMouseSubmenuIndexUsbMouse) {
app->view_id = AirMouseViewUsbMouse;
view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewUsbMouse);
} else if(index == AirMouseSubmenuIndexCalibration) {
app->view_id = AirMouseViewCalibration;
view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewCalibration);
}
}
void air_mouse_dialog_callback(DialogExResult result, void* context) {
furi_assert(context);
AirMouse* app = context;
if(result == DialogExResultLeft) {
view_dispatcher_switch_to_view(app->view_dispatcher, VIEW_NONE); // Exit
} else if(result == DialogExResultRight) {
view_dispatcher_switch_to_view(app->view_dispatcher, app->view_id); // Show last view
} else if(result == DialogExResultCenter) {
view_dispatcher_switch_to_view(app->view_dispatcher, AirMouseViewSubmenu); // Menu
}
}
uint32_t air_mouse_exit_confirm_view(void* context) {
UNUSED(context);
return AirMouseViewExitConfirm;
}
uint32_t air_mouse_exit(void* context) {
UNUSED(context);
return VIEW_NONE;
}
AirMouse* air_mouse_app_alloc() {
AirMouse* app = malloc(sizeof(AirMouse));
// Gui
app->gui = furi_record_open(RECORD_GUI);
// View dispatcher
app->view_dispatcher = view_dispatcher_alloc();
view_dispatcher_enable_queue(app->view_dispatcher);
view_dispatcher_attach_to_gui(app->view_dispatcher, app->gui, ViewDispatcherTypeFullscreen);
// Submenu view
app->submenu = submenu_alloc();
submenu_add_item(
app->submenu, "Bluetooth", AirMouseSubmenuIndexBtMouse, air_mouse_submenu_callback, app);
submenu_add_item(
app->submenu, "USB", AirMouseSubmenuIndexUsbMouse, air_mouse_submenu_callback, app);
submenu_add_item(
app->submenu,
"Calibration",
AirMouseSubmenuIndexCalibration,
air_mouse_submenu_callback,
app);
view_set_previous_callback(submenu_get_view(app->submenu), air_mouse_exit);
view_dispatcher_add_view(
app->view_dispatcher, AirMouseViewSubmenu, submenu_get_view(app->submenu));
// Dialog view
app->dialog = dialog_ex_alloc();
dialog_ex_set_result_callback(app->dialog, air_mouse_dialog_callback);
dialog_ex_set_context(app->dialog, app);
dialog_ex_set_left_button_text(app->dialog, "Exit");
dialog_ex_set_right_button_text(app->dialog, "Stay");
dialog_ex_set_center_button_text(app->dialog, "Menu");
dialog_ex_set_header(app->dialog, "Close Current App?", 16, 12, AlignLeft, AlignTop);
view_dispatcher_add_view(
app->view_dispatcher, AirMouseViewExitConfirm, dialog_ex_get_view(app->dialog));
// Bluetooth view
app->bt_mouse = bt_mouse_alloc(app->view_dispatcher);
view_set_previous_callback(bt_mouse_get_view(app->bt_mouse), air_mouse_exit_confirm_view);
view_dispatcher_add_view(
app->view_dispatcher, AirMouseViewBtMouse, bt_mouse_get_view(app->bt_mouse));
// USB view
app->usb_mouse = usb_mouse_alloc(app->view_dispatcher);
view_set_previous_callback(usb_mouse_get_view(app->usb_mouse), air_mouse_exit_confirm_view);
view_dispatcher_add_view(
app->view_dispatcher, AirMouseViewUsbMouse, usb_mouse_get_view(app->usb_mouse));
// Calibration view
app->calibration = calibration_alloc(app->view_dispatcher);
view_set_previous_callback(
calibration_get_view(app->calibration), air_mouse_exit_confirm_view);
view_dispatcher_add_view(
app->view_dispatcher, AirMouseViewCalibration, calibration_get_view(app->calibration));
app->view_id = AirMouseViewSubmenu;
view_dispatcher_switch_to_view(app->view_dispatcher, app->view_id);
return app;
}
void air_mouse_app_free(AirMouse* app) {
furi_assert(app);
// Free views
view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewSubmenu);
submenu_free(app->submenu);
view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewExitConfirm);
dialog_ex_free(app->dialog);
view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewBtMouse);
bt_mouse_free(app->bt_mouse);
view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewUsbMouse);
usb_mouse_free(app->usb_mouse);
view_dispatcher_remove_view(app->view_dispatcher, AirMouseViewCalibration);
calibration_free(app->calibration);
view_dispatcher_free(app->view_dispatcher);
// Close records
furi_record_close(RECORD_GUI);
app->gui = NULL;
// Free rest
free(app);
}
int32_t air_mouse_app(void* p) {
UNUSED(p);
AirMouse* app = air_mouse_app_alloc();
if(!imu_begin()) {
air_mouse_app_free(app);
return -1;
}
DOLPHIN_DEED(DolphinDeedPluginStart);
view_dispatcher_run(app->view_dispatcher);
imu_end();
air_mouse_app_free(app);
return 0;
}
Applications/Official/DEV_FW/source/grnch/airmouse/air_mouse.h
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#pragma once
#include <gui/gui.h>
#include <gui/view.h>
#include <gui/view_dispatcher.h>
#include <gui/modules/submenu.h>
#include <gui/modules/dialog_ex.h>
#include "views/bt_mouse.h"
#include "views/usb_mouse.h"
#include "views/calibration.h"
typedef struct {
Gui* gui;
ViewDispatcher* view_dispatcher;
Submenu* submenu;
DialogEx* dialog;
BtMouse* bt_mouse;
UsbMouse* usb_mouse;
Calibration* calibration;
uint32_t view_id;
} AirMouse;
typedef enum {
AirMouseViewSubmenu,
AirMouseViewBtMouse,
AirMouseViewUsbMouse,
AirMouseViewCalibration,
AirMouseViewExitConfirm,
} AirMouseView;
Applications/Official/DEV_FW/source/grnch/airmouse/application.fam
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App(
appid="BMI160_Air_Mouse",
name="[BMI160] Air Mouse",
apptype=FlipperAppType.EXTERNAL,
entry_point="air_mouse_app",
stack_size=10 * 1024,
fap_icon="mouse_10px.png",
fap_category="GPIO",
)
Applications/Official/DEV_FW/source/grnch/airmouse/mouse_10px.png
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Applications/Official/DEV_FW/source/grnch/airmouse/tracking/calibration_data.cc
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#include <furi.h>
#include <furi_hal.h>
#define TAG "tracker"
#include "calibration_data.h"
#include <cmath>
#include <algorithm>
// Student's distribution T value for 95% (two-sided) confidence interval.
static const double Tn = 1.960;
// Number of samples (degrees of freedom) for the corresponding T values.
static const int Nn = 200;
void CalibrationData::reset()
{
complete = false;
count = 0;
sum = Vector::Zero();
sumSq = Vector::Zero();
mean = Vector::Zero();
median = Vector::Zero();
sigma = Vector::Zero();
delta = Vector::Zero();
xData.clear();
yData.clear();
zData.clear();
}
bool CalibrationData::add(Vector& data)
{
if (complete) {
return true;
}
xData.push_back(data[0]);
yData.push_back(data[1]);
zData.push_back(data[2]);
sum += data;
sumSq += data * data;
count++;
if (count >= Nn) {
calcDelta();
complete = true;
}
return complete;
}
static inline double medianOf(std::vector<double>& list)
{
std::sort(list.begin(), list.end());
int count = list.size();
int middle = count / 2;
return (count % 2 == 1) ? list[middle] : (list[middle - 1] + list[middle]) / 2.0l;
}
void CalibrationData::calcDelta()
{
median.Set(medianOf(xData), medianOf(yData), medianOf(zData));
mean = sum / count;
Vector m2 = mean * mean;
Vector d = sumSq / count - m2;
Vector s2 = (d * count) / (count - 1);
sigma = Vector(std::sqrt(d[0]), std::sqrt(d[1]), std::sqrt(d[2]));
Vector s = Vector(std::sqrt(s2[0]), std::sqrt(s2[1]), std::sqrt(s2[2]));
delta = s * Tn / std::sqrt((double)count);
Vector low = mean - delta;
Vector high = mean + delta;
FURI_LOG_I(TAG,
"M[x] = { %f ... %f } // median = %f // avg = %f // delta = %f // sigma = %f",
low[0], high[0], median[0], mean[0], delta[0], sigma[0]);
FURI_LOG_I(TAG,
"M[y] = { %f ... %f } // median = %f // avg = %f // delta = %f // sigma = %f",
low[1], high[1], median[1], mean[1], delta[1], sigma[1]);
FURI_LOG_I(TAG,
"M[z] = { %f ... %f } // median = %f // avg = %f // delta = %f // sigma = %f",
low[2], high[2], median[2], mean[2], delta[2], sigma[2]);
}
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/calibration_data.h
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#pragma once
#include <toolbox/saved_struct.h>
#include <storage/storage.h>
#include <vector>
#include "util/vector.h"
#define CALIBRATION_DATA_VER (1)
#define CALIBRATION_DATA_FILE_NAME ".calibration.data"
#define CALIBRATION_DATA_PATH INT_PATH(CALIBRATION_DATA_FILE_NAME)
#define CALIBRATION_DATA_MAGIC (0x23)
#define CALIBRATION_DATA_SAVE(x) \
saved_struct_save( \
CALIBRATION_DATA_PATH, \
(x), \
sizeof(CalibrationMedian), \
CALIBRATION_DATA_MAGIC, \
CALIBRATION_DATA_VER)
#define CALIBRATION_DATA_LOAD(x) \
saved_struct_load( \
CALIBRATION_DATA_PATH, \
(x), \
sizeof(CalibrationMedian), \
CALIBRATION_DATA_MAGIC, \
CALIBRATION_DATA_VER)
typedef struct {
double x;
double y;
double z;
} CalibrationMedian;
typedef cardboard::Vector3 Vector;
/**
* Helper class to gather some stats and store the calibration data. Right now it calculates a lot
* more stats than actually needed. Some of them are used for logging the sensors quality (and
* filing bugs), other may be required in the future, e.g. for bias.
*/
class CalibrationData {
public:
/**
* Check if the sensors were calibrated before.
*
* @return {@code true} if calibration data is available, or {@code false} otherwise.
*/
bool isComplete() {
return complete;
}
/** Prepare to collect new calibration data. */
void reset();
/**
* Retrieve the median gyroscope readings.
*
* @return Three-axis median vector.
*/
Vector getMedian() {
return median;
}
/**
* Retrieve the mean gyroscope readings.
*
* @return Three-axis mean vector.
*/
Vector getMean() {
return mean;
}
/**
* Retrieve the standard deviation of gyroscope readings.
*
* @return Three-axis standard deviation vector.
*/
Vector getSigma() {
return sigma;
}
/**
* Retrieve the confidence interval size of gyroscope readings.
*
* @return Three-axis confidence interval size vector.
*/
Vector getDelta() {
return delta;
}
/**
* Add a new gyroscope reading to the stats.
*
* @param data gyroscope values vector.
* @return {@code true} if we now have enough data for calibration, or {@code false} otherwise.
*/
bool add(Vector& data);
private:
// Calculates the confidence interval (mean +- delta) and some other related values, like
// standard deviation, etc. See https://en.wikipedia.org/wiki/Student%27s_t-distribution
void calcDelta();
int count;
bool complete;
Vector sum;
Vector sumSq;
Vector mean;
Vector median;
Vector sigma;
Vector delta;
std::vector<double> xData;
std::vector<double> yData;
std::vector<double> zData;
};
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/bmi160.c
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Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/bmi160.h
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/**
* Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmi160.h
* @date 2021-10-05
* @version v3.9.2
*
*/
/*!
* @defgroup bmi160 BMI160
*/
#ifndef BMI160_H_
#define BMI160_H_
/*************************** C++ guard macro *****************************/
#ifdef __cplusplus
extern "C" {
#endif
#include "bmi160_defs.h"
#ifdef __KERNEL__
#include <bmi160_math.h>
#else
#include <math.h>
#include <string.h>
#include <stdlib.h>
#endif
/*********************** User function prototypes ************************/
/**
* \ingroup bmi160
* \defgroup bmi160ApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmi160ApiInit
* \page bmi160_api_bmi160_init bmi160_init
* \code
* int8_t bmi160_init(struct bmi160_dev *dev);
* \endcode
* @details This API is the entry point for sensor.It performs
* the selection of I2C/SPI read mechanism according to the
* selected interface and reads the chip-id of bmi160 sensor.
*
* @param[in,out] dev : Structure instance of bmi160_dev
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_init(struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiRegs Registers
* @brief Read data from the given register address of sensor
*/
/*!
* \ingroup bmi160ApiRegs
* \page bmi160_api_bmi160_get_regs bmi160_get_regs
* \code
* int8_t bmi160_get_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
* \endcode
* @details This API reads the data from the given register address of sensor.
*
* @param[in] reg_addr : Register address from where the data to be read
* @param[out] data : Pointer to data buffer to store the read data.
* @param[in] len : No of bytes of data to be read.
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note For most of the registers auto address increment applies, with the
* exception of a few special registers, which trap the address. For e.g.,
* Register address - 0x24(BMI160_FIFO_DATA_ADDR)
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t
bmi160_get_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiRegs
* \page bmi160_api_bmi160_set_regs bmi160_set_regs
* \code
* int8_t bmi160_set_regs(uint8_t reg_addr, uint8_t *data, uint16_t len, const struct bmi160_dev *dev);
* \endcode
* @details This API writes the given data to the register address
* of sensor.
*
* @param[in] reg_addr : Register address from where the data to be written.
* @param[in] data : Pointer to data buffer which is to be written
* in the sensor.
* @param[in] len : No of bytes of data to write..
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t
bmi160_set_regs(uint8_t reg_addr, uint8_t* data, uint16_t len, const struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiSoftreset Soft reset
* @brief Perform soft reset of the sensor
*/
/*!
* \ingroup bmi160ApiSoftreset
* \page bmi160_api_bmi160_soft_reset bmi160_soft_reset
* \code
* int8_t bmi160_soft_reset(struct bmi160_dev *dev);
* \endcode
* @details This API resets and restarts the device.
* All register values are overwritten with default parameters.
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_soft_reset(struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiConfig Configuration
* @brief Configuration of the sensor
*/
/*!
* \ingroup bmi160ApiConfig
* \page bmi160_api_bmi160_set_sens_conf bmi160_set_sens_conf
* \code
* int8_t bmi160_set_sens_conf(struct bmi160_dev *dev);
* \endcode
* @details This API configures the power mode, range and bandwidth
* of sensor.
*
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_sens_conf(struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiConfig
* \page bmi160_api_bmi160_get_sens_conf bmi160_get_sens_conf
* \code
* int8_t bmi160_get_sens_conf(struct bmi160_dev *dev);
* \endcode
* @details This API gets accel and gyro configurations.
*
* @param[out] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_get_sens_conf(struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiPowermode Power mode
* @brief Set / Get power mode of the sensor
*/
/*!
* \ingroup bmi160ApiPowermode
* \page bmi160_api_bmi160_set_power_mode bmi160_set_power_mode
* \code
* int8_t bmi160_set_power_mode(struct bmi160_dev *dev);
* \endcode
* @details This API sets the power mode of the sensor.
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_power_mode(struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiPowermode
* \page bmi160_api_bmi160_get_power_mode bmi160_get_power_mode
* \code
* int8_t bmi160_get_power_mode(struct bmi160_dev *dev);
* \endcode
* @details This API gets the power mode of the sensor.
*
* @param[in] dev : Structure instance of bmi160_dev
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_get_power_mode(struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiData Sensor Data
* @brief Read sensor data
*/
/*!
* \ingroup bmi160ApiData
* \page bmi160_api_bmi160_get_sensor_data bmi160_get_sensor_data
* \code
* int8_t bmi160_get_sensor_data(uint8_t select_sensor,
* struct bmi160_sensor_data *accel,
* struct bmi160_sensor_data *gyro,
* const struct bmi160_dev *dev);
*
* \endcode
* @details This API reads sensor data, stores it in
* the bmi160_sensor_data structure pointer passed by the user.
* The user can ask for accel data ,gyro data or both sensor
* data using bmi160_select_sensor enum
*
* @param[in] select_sensor : enum to choose accel,gyro or both sensor data
* @param[out] accel : Structure pointer to store accel data
* @param[out] gyro : Structure pointer to store gyro data
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_get_sensor_data(
uint8_t select_sensor,
struct bmi160_sensor_data* accel,
struct bmi160_sensor_data* gyro,
const struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiInt Interrupt configuration
* @brief Set interrupt configuration of the sensor
*/
/*!
* \ingroup bmi160ApiInt
* \page bmi160_api_bmi160_set_int_config bmi160_set_int_config
* \code
* int8_t bmi160_set_int_config(struct bmi160_int_settg *int_config, struct bmi160_dev *dev);
* \endcode
* @details This API configures the necessary interrupt based on
* the user settings in the bmi160_int_settg structure instance.
*
* @param[in] int_config : Structure instance of bmi160_int_settg.
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_int_config(struct bmi160_int_settg* int_config, struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiStepC Step counter
* @brief Step counter operations
*/
/*!
* \ingroup bmi160ApiStepC
* \page bmi160_api_bmi160_set_step_counter bmi160_set_step_counter
* \code
* int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev *dev);
* \endcode
* @details This API enables the step counter feature.
*
* @param[in] step_cnt_enable : value to enable or disable
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_step_counter(uint8_t step_cnt_enable, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiStepC
* \page bmi160_api_bmi160_read_step_counter bmi160_read_step_counter
* \code
* int8_t bmi160_read_step_counter(uint16_t *step_val, const struct bmi160_dev *dev);
* \endcode
* @details This API reads the step counter value.
*
* @param[in] step_val : Pointer to store the step counter value.
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_read_step_counter(uint16_t* step_val, const struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiAux Auxiliary sensor
* @brief Auxiliary sensor operations
*/
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_aux_read bmi160_aux_read
* \code
* int8_t bmi160_aux_read(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
* \endcode
* @details This API reads the mention no of byte of data from the given
* register address of auxiliary sensor.
*
* @param[in] reg_addr : Address of register to read.
* @param[in] aux_data : Pointer to store the read data.
* @param[in] len : No of bytes to read.
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_aux_read(
uint8_t reg_addr,
uint8_t* aux_data,
uint16_t len,
const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_aux_write bmi160_aux_write
* \code
* int8_t bmi160_aux_write(uint8_t reg_addr, uint8_t *aux_data, uint16_t len, const struct bmi160_dev *dev);
* \endcode
* @details This API writes the mention no of byte of data to the given
* register address of auxiliary sensor.
*
* @param[in] reg_addr : Address of register to write.
* @param[in] aux_data : Pointer to write data.
* @param[in] len : No of bytes to write.
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_aux_write(
uint8_t reg_addr,
uint8_t* aux_data,
uint16_t len,
const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_aux_init bmi160_aux_init
* \code
* int8_t bmi160_aux_init(const struct bmi160_dev *dev);
* \endcode
* @details This API initialize the auxiliary sensor
* in order to access it.
*
* @param[in] dev : Structure instance of bmi160_dev.
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_aux_init(const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_set_aux_auto_mode bmi160_set_aux_auto_mode
* \code
* int8_t bmi160_set_aux_auto_mode(uint8_t *data_addr, struct bmi160_dev *dev);
* \endcode
* @details This API is used to setup the auxiliary sensor of bmi160 in auto mode
* Thus enabling the auto update of 8 bytes of data from auxiliary sensor
* to BMI160 register address 0x04 to 0x0B
*
* @param[in] data_addr : Starting address of aux. sensor's data register
* (BMI160 registers 0x04 to 0x0B will be updated
* with 8 bytes of data from auxiliary sensor
* starting from this register address.)
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note : Set the value of auxiliary polling rate by setting
* dev->aux_cfg.aux_odr to the required value from the table
* before calling this API
*
*@verbatim
* dev->aux_cfg.aux_odr | Auxiliary ODR (Hz)
* -----------------------|-----------------------
* BMI160_AUX_ODR_0_78HZ | 25/32
* BMI160_AUX_ODR_1_56HZ | 25/16
* BMI160_AUX_ODR_3_12HZ | 25/8
* BMI160_AUX_ODR_6_25HZ | 25/4
* BMI160_AUX_ODR_12_5HZ | 25/2
* BMI160_AUX_ODR_25HZ | 25
* BMI160_AUX_ODR_50HZ | 50
* BMI160_AUX_ODR_100HZ | 100
* BMI160_AUX_ODR_200HZ | 200
* BMI160_AUX_ODR_400HZ | 400
* BMI160_AUX_ODR_800HZ | 800
*@endverbatim
*
* @note : Other values of dev->aux_cfg.aux_odr are reserved and not for use
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_set_aux_auto_mode(uint8_t* data_addr, struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_config_aux_mode bmi160_config_aux_mode
* \code
* int8_t bmi160_config_aux_mode(const struct bmi160_dev *dev);
* \endcode
* @details This API configures the 0x4C register and settings like
* Auxiliary sensor manual enable/ disable and aux burst read length.
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_config_aux_mode(const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiAux
* \page bmi160_api_bmi160_read_aux_data_auto_mode bmi160_read_aux_data_auto_mode
* \code
* int8_t bmi160_read_aux_data_auto_mode(uint8_t *aux_data, const struct bmi160_dev *dev);
* \endcode
* @details This API is used to read the raw uncompensated auxiliary sensor
* data of 8 bytes from BMI160 register address 0x04 to 0x0B
*
* @param[in] aux_data : Pointer to user array of length 8 bytes
* Ensure that the aux_data array is of
* length 8 bytes
* @param[in] dev : Structure instance of bmi160_dev
*
* @retval zero -> Success / -ve value -> Error
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_read_aux_data_auto_mode(uint8_t* aux_data, const struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiSelfTest Self test
* @brief Perform self test of the sensor
*/
/*!
* \ingroup bmi160ApiSelfTest
* \page bmi160_api_bmi160_perform_self_test bmi160_perform_self_test
* \code
* int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev *dev);
* \endcode
* @details This is used to perform self test of accel/gyro of the BMI160 sensor
*
* @param[in] select_sensor : enum to choose accel or gyro for self test
* @param[in] dev : Structure instance of bmi160_dev
*
* @note self test can be performed either for accel/gyro at any instant.
*
*@verbatim
* value of select_sensor | Inference
*----------------------------------|--------------------------------
* BMI160_ACCEL_ONLY | Accel self test enabled
* BMI160_GYRO_ONLY | Gyro self test enabled
* BMI160_BOTH_ACCEL_AND_GYRO | NOT TO BE USED
*@endverbatim
*
* @note The return value of this API gives us the result of self test.
*
* @note Performing self test does soft reset of the sensor, User can
* set the desired settings after performing the self test.
*
* @return Result of API execution status
* @retval BMI160_OK Self test success
* @retval BMI160_W_GYRO_SELF_TEST_FAIL Gyro self test fail
* @retval BMI160_W_ACCEl_SELF_TEST_FAIL Accel self test fail
*/
int8_t bmi160_perform_self_test(uint8_t select_sensor, struct bmi160_dev* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiFIFO FIFO
* @brief FIFO operations of the sensor
*/
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_get_fifo_data bmi160_get_fifo_data
* \code
* int8_t bmi160_get_fifo_data(struct bmi160_dev const *dev);
* \endcode
* @details This API reads data from the fifo buffer.
*
* @note User has to allocate the FIFO buffer along with
* corresponding fifo length from his side before calling this API
* as mentioned in the readme.md
*
* @note User must specify the number of bytes to read from the FIFO in
* dev->fifo->length , It will be updated by the number of bytes actually
* read from FIFO after calling this API
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval Zero Success
* @retval Negative Error
*/
int8_t bmi160_get_fifo_data(struct bmi160_dev const* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_set_fifo_flush bmi160_set_fifo_flush
* \code
* int8_t bmi160_set_fifo_flush(const struct bmi160_dev *dev);
* \endcode
* @details This API writes fifo_flush command to command register.This
* action clears all data in the Fifo without changing fifo configuration
* settings.
*
* @param[in] dev : Structure instance of bmi160_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_set_fifo_flush(const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_set_fifo_config bmi160_set_fifo_config
* \code
* int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const *dev);
* \endcode
* @details This API sets the FIFO configuration in the sensor.
*
* @param[in] config : variable used to specify the FIFO
* configurations which are to be enabled or disabled in the sensor.
*
* @note : User can set either set one or more or all FIFO configurations
* by ORing the below mentioned macros.
*
*@verbatim
* config | Value
* ------------------------|---------------------------
* BMI160_FIFO_TIME | 0x02
* BMI160_FIFO_TAG_INT2 | 0x04
* BMI160_FIFO_TAG_INT1 | 0x08
* BMI160_FIFO_HEADER | 0x10
* BMI160_FIFO_AUX | 0x20
* BMI160_FIFO_ACCEL | 0x40
* BMI160_FIFO_GYRO | 0x80
*@endverbatim
*
* @param[in] enable : Parameter used to enable or disable the above
* FIFO configuration
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return status of bus communication result
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_set_fifo_config(uint8_t config, uint8_t enable, struct bmi160_dev const* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_set_fifo_down bmi160_set_fifo_down
* \code
* int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev *dev);
* \endcode
* @details This API is used to configure the down sampling ratios of
* the accel and gyro data for FIFO.Also, it configures filtered or
* pre-filtered data for the fifo for accel and gyro.
*
* @param[in] fifo_down : variable used to specify the FIFO down
* configurations which are to be enabled or disabled in the sensor.
*
* @note The user must select one among the following macros to
* select down-sampling ratio for accel
*
*@verbatim
* config | Value
* -------------------------------------|---------------------------
* BMI160_ACCEL_FIFO_DOWN_ZERO | 0x00
* BMI160_ACCEL_FIFO_DOWN_ONE | 0x10
* BMI160_ACCEL_FIFO_DOWN_TWO | 0x20
* BMI160_ACCEL_FIFO_DOWN_THREE | 0x30
* BMI160_ACCEL_FIFO_DOWN_FOUR | 0x40
* BMI160_ACCEL_FIFO_DOWN_FIVE | 0x50
* BMI160_ACCEL_FIFO_DOWN_SIX | 0x60
* BMI160_ACCEL_FIFO_DOWN_SEVEN | 0x70
*@endverbatim
*
* @note The user must select one among the following macros to
* select down-sampling ratio for gyro
*
*@verbatim
* config | Value
* -------------------------------------|---------------------------
* BMI160_GYRO_FIFO_DOWN_ZERO | 0x00
* BMI160_GYRO_FIFO_DOWN_ONE | 0x01
* BMI160_GYRO_FIFO_DOWN_TWO | 0x02
* BMI160_GYRO_FIFO_DOWN_THREE | 0x03
* BMI160_GYRO_FIFO_DOWN_FOUR | 0x04
* BMI160_GYRO_FIFO_DOWN_FIVE | 0x05
* BMI160_GYRO_FIFO_DOWN_SIX | 0x06
* BMI160_GYRO_FIFO_DOWN_SEVEN | 0x07
*@endverbatim
*
* @note The user can enable filtered accel data by the following macro
*
*@verbatim
* config | Value
* -------------------------------------|---------------------------
* BMI160_ACCEL_FIFO_FILT_EN | 0x80
*@endverbatim
*
* @note The user can enable filtered gyro data by the following macro
*
*@verbatim
* config | Value
* -------------------------------------|---------------------------
* BMI160_GYRO_FIFO_FILT_EN | 0x08
*@endverbatim
*
* @note : By ORing the above mentioned macros, the user can select
* the required FIFO down config settings
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return status of bus communication result
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_set_fifo_down(uint8_t fifo_down, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_set_fifo_wm bmi160_set_fifo_wm
* \code
* int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev *dev);
* \endcode
* @details This API sets the FIFO watermark level in the sensor.
*
* @note The FIFO watermark is issued when the FIFO fill level is
* equal or above the watermark level and units of watermark is 4 bytes.
*
* @param[in] fifo_wm : Variable used to set the FIFO water mark level
* @param[in] dev : Structure instance of bmi160_dev
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_set_fifo_wm(uint8_t fifo_wm, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_extract_accel bmi160_extract_accel
* \code
* int8_t bmi160_extract_accel(struct bmi160_sensor_data *accel_data, uint8_t *accel_length, struct bmi160_dev const
**dev);
* \endcode
* @details This API parses and extracts the accelerometer frames from
* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
* the "accel_data" structure instance.
*
* @note The bmi160_extract_accel API should be called only after
* reading the FIFO data by calling the bmi160_get_fifo_data() API.
*
* @param[out] accel_data : Structure instance of bmi160_sensor_data
* where the accelerometer data in FIFO is stored.
* @param[in,out] accel_length : Number of valid accelerometer frames
* (x,y,z axes data) read out from fifo.
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note accel_length is updated with the number of valid accelerometer
* frames extracted from fifo (1 accel frame = 6 bytes) at the end of
* execution of this API.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_extract_accel(
struct bmi160_sensor_data* accel_data,
uint8_t* accel_length,
struct bmi160_dev const* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_extract_gyro bmi160_extract_gyro
* \code
* int8_t bmi160_extract_gyro(struct bmi160_sensor_data *gyro_data, uint8_t *gyro_length, struct bmi160_dev const *dev);
* \endcode
* @details This API parses and extracts the gyro frames from
* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
* the "gyro_data" structure instance.
*
* @note The bmi160_extract_gyro API should be called only after
* reading the FIFO data by calling the bmi160_get_fifo_data() API.
*
* @param[out] gyro_data : Structure instance of bmi160_sensor_data
* where the gyro data in FIFO is stored.
* @param[in,out] gyro_length : Number of valid gyro frames
* (x,y,z axes data) read out from fifo.
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note gyro_length is updated with the number of valid gyro
* frames extracted from fifo (1 gyro frame = 6 bytes) at the end of
* execution of this API.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_extract_gyro(
struct bmi160_sensor_data* gyro_data,
uint8_t* gyro_length,
struct bmi160_dev const* dev);
/*!
* \ingroup bmi160ApiFIFO
* \page bmi160_api_bmi160_extract_aux bmi160_extract_aux
* \code
* int8_t bmi160_extract_aux(struct bmi160_aux_data *aux_data, uint8_t *aux_len, struct bmi160_dev const *dev);
* \endcode
* @details This API parses and extracts the aux frames from
* FIFO data read by the "bmi160_get_fifo_data" API and stores it in
* the bmi160_aux_data structure instance.
*
* @note The bmi160_extract_aux API should be called only after
* reading the FIFO data by calling the bmi160_get_fifo_data() API.
*
* @param[out] aux_data : Structure instance of bmi160_aux_data
* where the aux data in FIFO is stored.
* @param[in,out] aux_len : Number of valid aux frames (8bytes)
* read out from FIFO.
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note aux_len is updated with the number of valid aux
* frames extracted from fifo (1 aux frame = 8 bytes) at the end of
* execution of this API.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*
*/
int8_t bmi160_extract_aux(
struct bmi160_aux_data* aux_data,
uint8_t* aux_len,
struct bmi160_dev const* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiFOC FOC
* @brief Start FOC of accel and gyro sensors
*/
/*!
* \ingroup bmi160ApiFOC
* \page bmi160_api_bmi160_start_foc bmi160_start_foc
* \code
* int8_t bmi160_start_foc(const struct bmi160_foc_conf *foc_conf,
* \endcode
* @details This API starts the FOC of accel and gyro
*
* @note FOC should not be used in low-power mode of sensor
*
* @note Accel FOC targets values of +1g , 0g , -1g
* Gyro FOC always targets value of 0 dps
*
* @param[in] foc_conf : Structure instance of bmi160_foc_conf which
* has the FOC configuration
* @param[in,out] offset : Structure instance to store Offset
* values read from sensor
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note Pre-requisites for triggering FOC in accel , Set the following,
* Enable the acc_off_en
* Ex : foc_conf.acc_off_en = BMI160_ENABLE;
*
* Set the desired target values of FOC to each axes (x,y,z) by using the
* following macros
* - BMI160_FOC_ACCEL_DISABLED
* - BMI160_FOC_ACCEL_POSITIVE_G
* - BMI160_FOC_ACCEL_NEGATIVE_G
* - BMI160_FOC_ACCEL_0G
*
* Ex : foc_conf.foc_acc_x = BMI160_FOC_ACCEL_0G;
* foc_conf.foc_acc_y = BMI160_FOC_ACCEL_0G;
* foc_conf.foc_acc_z = BMI160_FOC_ACCEL_POSITIVE_G;
*
* @note Pre-requisites for triggering FOC in gyro ,
* Set the following parameters,
*
* Ex : foc_conf.foc_gyr_en = BMI160_ENABLE;
* foc_conf.gyro_off_en = BMI160_ENABLE;
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_start_foc(
const struct bmi160_foc_conf* foc_conf,
struct bmi160_offsets* offset,
struct bmi160_dev const* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiOffsets Offsets
* @brief Set / Get offset values of accel and gyro sensors
*/
/*!
* \ingroup bmi160ApiOffsets
* \page bmi160_api_bmi160_get_offsets bmi160_get_offsets
* \code
* int8_t bmi160_get_offsets(struct bmi160_offsets *offset, const struct bmi160_dev *dev);
* \endcode
* @details This API reads and stores the offset values of accel and gyro
*
* @param[in,out] offset : Structure instance of bmi160_offsets in which
* the offset values are read and stored
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_get_offsets(struct bmi160_offsets* offset, const struct bmi160_dev* dev);
/*!
* \ingroup bmi160ApiOffsets
* \page bmi160_api_bmi160_set_offsets bmi160_set_offsets
* \code
* int8_t bmi160_set_offsets(const struct bmi160_foc_conf *foc_conf,
* const struct bmi160_offsets *offset,
* struct bmi160_dev const *dev);
* \endcode
* @details This API writes the offset values of accel and gyro to
* the sensor but these values will be reset on POR or soft reset.
*
* @param[in] foc_conf : Structure instance of bmi160_foc_conf which
* has the FOC configuration
* @param[in] offset : Structure instance in which user updates offset
* values which are to be written in the sensor
* @param[in] dev : Structure instance of bmi160_dev.
*
* @note Offsets can be set by user like offset->off_acc_x = 10;
* where 1LSB = 3.9mg and for gyro 1LSB = 0.061degrees/second
*
* @note BMI160 offset values for xyz axes of accel should be within range of
* BMI160_ACCEL_MIN_OFFSET (-128) to BMI160_ACCEL_MAX_OFFSET (127)
*
* @note BMI160 offset values for xyz axes of gyro should be within range of
* BMI160_GYRO_MIN_OFFSET (-512) to BMI160_GYRO_MAX_OFFSET (511)
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_set_offsets(
const struct bmi160_foc_conf* foc_conf,
const struct bmi160_offsets* offset,
struct bmi160_dev const* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiNVM NVM
* @brief Write image registers values to NVM
*/
/*!
* \ingroup bmi160ApiNVM
* \page bmi160_api_bmi160_update_nvm bmi160_update_nvm
* \code
* int8_t bmi160_update_nvm(struct bmi160_dev const *dev);
* \endcode
* @details This API writes the image registers values to NVM which is
* stored even after POR or soft reset
*
* @param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_update_nvm(struct bmi160_dev const* dev);
/**
* \ingroup bmi160
* \defgroup bmi160ApiInts Interrupt status
* @brief Read interrupt status from the sensor
*/
/*!
* \ingroup bmi160ApiInts
* \page bmi160_api_bmi160_get_int_status bmi160_get_int_status
* \code
* int8_t bmi160_get_int_status(enum bmi160_int_status_sel int_status_sel,
* union bmi160_int_status *int_status,
* struct bmi160_dev const *dev);
* \endcode
* @details This API gets the interrupt status from the sensor.
*
* @param[in] int_status_sel : Enum variable to select either individual or all the
* interrupt status bits.
* @param[in] int_status : pointer variable to get the interrupt status
* from the sensor.
* param[in] dev : Structure instance of bmi160_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval Any non zero value -> Fail
*/
int8_t bmi160_get_int_status(
enum bmi160_int_status_sel int_status_sel,
union bmi160_int_status* int_status,
struct bmi160_dev const* dev);
/*************************** C++ guard macro *****************************/
#ifdef __cplusplus
}
#endif
#endif /* BMI160_H_ */
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/bmi160_defs.h
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Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/imu.c
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#include "imu.h"
#include <furi_hal.h>
bool bmi160_begin();
int bmi160_read(double* vec);
bool lsm6ds3trc_begin();
void lsm6ds3trc_end();
int lsm6ds3trc_read(double* vec);
bool imu_begin() {
furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
bool ret = bmi160_begin(); // lsm6ds3trc_begin();
furi_hal_i2c_release(&furi_hal_i2c_handle_external);
return ret;
}
void imu_end() {
// furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
// lsm6ds3trc_end();
// furi_hal_i2c_release(&furi_hal_i2c_handle_external);
}
int imu_read(double* vec) {
furi_hal_i2c_acquire(&furi_hal_i2c_handle_external);
int ret = bmi160_read(vec); // lsm6ds3trc_read(vec);
furi_hal_i2c_release(&furi_hal_i2c_handle_external);
return ret;
}
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/imu.h
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#pragma once
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
#define ACC_DATA_READY (1 << 0)
#define GYR_DATA_READY (1 << 1)
bool imu_begin();
void imu_end();
int imu_read(double* vec);
#ifdef __cplusplus
}
#endif
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/imu_bmi160.c
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#include "bmi160.h"
#include <furi_hal.h>
#include "imu.h"
#define TAG "BMI160"
#define BMI160_DEV_ADDR (0x69 << 1)
static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
static const double G = 9.81;
struct bmi160_dev bmi160dev;
struct bmi160_sensor_data bmi160_accel;
struct bmi160_sensor_data bmi160_gyro;
int8_t bmi160_write_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* data, uint16_t len) {
if(furi_hal_i2c_write_mem(&furi_hal_i2c_handle_external, dev_addr, reg_addr, data, len, 50))
return BMI160_OK;
return BMI160_E_COM_FAIL;
}
int8_t bmi160_read_i2c(uint8_t dev_addr, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
if(furi_hal_i2c_read_mem(&furi_hal_i2c_handle_external, dev_addr, reg_addr, read_data, len, 50))
return BMI160_OK;
return BMI160_E_COM_FAIL;
}
bool bmi160_begin() {
FURI_LOG_I(TAG, "Init BMI160");
if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, BMI160_DEV_ADDR, 50)) {
FURI_LOG_E(TAG, "Device not ready!");
return false;
}
FURI_LOG_I(TAG, "Device ready!");
bmi160dev.id = BMI160_DEV_ADDR;
bmi160dev.intf = BMI160_I2C_INTF;
bmi160dev.read = bmi160_read_i2c;
bmi160dev.write = bmi160_write_i2c;
bmi160dev.delay_ms = furi_delay_ms;
if(bmi160_init(&bmi160dev) != BMI160_OK) {
FURI_LOG_E(TAG, "Initialization failure!");
FURI_LOG_E(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
return false;
}
bmi160dev.accel_cfg.odr = BMI160_ACCEL_ODR_400HZ;
bmi160dev.accel_cfg.range = BMI160_ACCEL_RANGE_4G;
bmi160dev.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
bmi160dev.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
bmi160dev.gyro_cfg.odr = BMI160_GYRO_ODR_400HZ;
bmi160dev.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
bmi160dev.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
bmi160dev.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
if(bmi160_set_sens_conf(&bmi160dev) != BMI160_OK) {
FURI_LOG_E(TAG, "Initialization failure!");
FURI_LOG_E(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
return false;
}
FURI_LOG_I(TAG, "Initialization success!");
FURI_LOG_I(TAG, "Chip ID 0x%X", bmi160dev.chip_id);
return true;
}
int bmi160_read(double* vec) {
if(bmi160_get_sensor_data(
(BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &bmi160_accel, &bmi160_gyro, &bmi160dev) !=
BMI160_OK) {
return 0;
}
vec[0] = ((double)bmi160_accel.x * 4 / 32768) * G;
vec[1] = ((double)bmi160_accel.y * 4 / 32768) * G;
vec[2] = ((double)bmi160_accel.z * 4 / 32768) * G;
vec[3] = ((double)bmi160_gyro.x * 2000 / 32768) * DEG_TO_RAD;
vec[4] = ((double)bmi160_gyro.y * 2000 / 32768) * DEG_TO_RAD;
vec[5] = ((double)bmi160_gyro.z * 2000 / 32768) * DEG_TO_RAD;
return ACC_DATA_READY | GYR_DATA_READY;
}
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/imu_lsm6ds3trc.c
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#include "lsm6ds3tr_c_reg.h"
#include <furi_hal.h>
#include "imu.h"
#define TAG "LSM6DS3TR-C"
#define LSM6DS3_ADDRESS (0x6A << 1)
static const double DEG_TO_RAD = 0.017453292519943295769236907684886;
stmdev_ctx_t lsm6ds3trc_ctx;
int32_t lsm6ds3trc_write_i2c(void* handle, uint8_t reg_addr, const uint8_t* data, uint16_t len) {
if(furi_hal_i2c_write_mem(handle, LSM6DS3_ADDRESS, reg_addr, (uint8_t*)data, len, 50))
return 0;
return -1;
}
int32_t lsm6ds3trc_read_i2c(void* handle, uint8_t reg_addr, uint8_t* read_data, uint16_t len) {
if(furi_hal_i2c_read_mem(handle, LSM6DS3_ADDRESS, reg_addr, read_data, len, 50)) return 0;
return -1;
}
bool lsm6ds3trc_begin() {
FURI_LOG_I(TAG, "Init LSM6DS3TR-C");
if(!furi_hal_i2c_is_device_ready(&furi_hal_i2c_handle_external, LSM6DS3_ADDRESS, 50)) {
FURI_LOG_E(TAG, "Not ready");
return false;
}
lsm6ds3trc_ctx.write_reg = lsm6ds3trc_write_i2c;
lsm6ds3trc_ctx.read_reg = lsm6ds3trc_read_i2c;
lsm6ds3trc_ctx.mdelay = furi_delay_ms;
lsm6ds3trc_ctx.handle = &furi_hal_i2c_handle_external;
uint8_t whoami;
lsm6ds3tr_c_device_id_get(&lsm6ds3trc_ctx, &whoami);
if(whoami != LSM6DS3TR_C_ID) {
FURI_LOG_I(TAG, "Unknown model: %x", (int)whoami);
return false;
}
lsm6ds3tr_c_reset_set(&lsm6ds3trc_ctx, PROPERTY_ENABLE);
uint8_t rst = PROPERTY_ENABLE;
while(rst) lsm6ds3tr_c_reset_get(&lsm6ds3trc_ctx, &rst);
lsm6ds3tr_c_block_data_update_set(&lsm6ds3trc_ctx, PROPERTY_ENABLE);
lsm6ds3tr_c_fifo_mode_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_BYPASS_MODE);
lsm6ds3tr_c_xl_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_ODR_104Hz);
lsm6ds3tr_c_xl_full_scale_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_4g);
lsm6ds3tr_c_xl_lp1_bandwidth_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_LP1_ODR_DIV_4);
lsm6ds3tr_c_gy_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_ODR_104Hz);
lsm6ds3tr_c_gy_full_scale_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_2000dps);
lsm6ds3tr_c_gy_power_mode_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_HIGH_PERFORMANCE);
lsm6ds3tr_c_gy_band_pass_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_LP2_ONLY);
FURI_LOG_I(TAG, "Init OK");
return true;
}
void lsm6ds3trc_end() {
lsm6ds3tr_c_xl_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_XL_ODR_OFF);
lsm6ds3tr_c_gy_data_rate_set(&lsm6ds3trc_ctx, LSM6DS3TR_C_GY_ODR_OFF);
}
int lsm6ds3trc_read(double* vec) {
int ret = 0;
int16_t data[3];
lsm6ds3tr_c_reg_t reg;
lsm6ds3tr_c_status_reg_get(&lsm6ds3trc_ctx, &reg.status_reg);
if(reg.status_reg.xlda) {
lsm6ds3tr_c_acceleration_raw_get(&lsm6ds3trc_ctx, data);
vec[2] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[0]) / 1000;
vec[0] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[1]) / 1000;
vec[1] = (double)lsm6ds3tr_c_from_fs2g_to_mg(data[2]) / 1000;
ret |= ACC_DATA_READY;
}
if(reg.status_reg.gda) {
lsm6ds3tr_c_angular_rate_raw_get(&lsm6ds3trc_ctx, data);
vec[5] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[0]) * DEG_TO_RAD / 1000;
vec[3] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[1]) * DEG_TO_RAD / 1000;
vec[4] = (double)lsm6ds3tr_c_from_fs2000dps_to_mdps(data[2]) * DEG_TO_RAD / 1000;
ret |= GYR_DATA_READY;
}
return ret;
}
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/lsm6ds3tr_c_reg.c
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Applications/Official/DEV_FW/source/grnch/airmouse/tracking/imu/lsm6ds3tr_c_reg.h
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Applications/Official/DEV_FW/source/grnch/airmouse/tracking/main_loop.cc
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#include "main_loop.h"
#include <furi.h>
#include <furi_hal.h>
#include "imu/imu.h"
#include "orientation_tracker.h"
#include "calibration_data.h"
#define TAG "tracker"
static const float CURSOR_SPEED = 1024.0 / (M_PI / 4);
static const float STABILIZE_BIAS = 16.0;
float g_yaw = 0;
float g_pitch = 0;
float g_dYaw = 0;
float g_dPitch = 0;
bool firstRead = true;
bool stabilize = true;
CalibrationData calibration;
cardboard::OrientationTracker tracker(10000000l); // 10 ms / 100 Hz
uint64_t ippms, ippms2;
static inline float clamp(float val)
{
while (val <= -M_PI) {
val += 2 * M_PI;
}
while (val >= M_PI) {
val -= 2 * M_PI;
}
return val;
}
static inline float highpass(float oldVal, float newVal)
{
if (!stabilize) {
return newVal;
}
float delta = clamp(oldVal - newVal);
float alpha = (float) std::max(0.0, 1 - std::pow(std::fabs(delta) * CURSOR_SPEED / STABILIZE_BIAS, 3.0));
return newVal + alpha * delta;
}
void sendCurrentState(MouseMoveCallback mouse_move, void *context)
{
float dX = g_dYaw * CURSOR_SPEED;
float dY = g_dPitch * CURSOR_SPEED;
// Scale the shift down to fit the protocol.
if (dX > 127) {
dY *= 127.0 / dX;
dX = 127;
}
if (dX < -127) {
dY *= -127.0 / dX;
dX = -127;
}
if (dY > 127) {
dX *= 127.0 / dY;
dY = 127;
}
if (dY < -127) {
dX *= -127.0 / dY;
dY = -127;
}
const int8_t x = (int8_t)std::floor(dX + 0.5);
const int8_t y = (int8_t)std::floor(dY + 0.5);
mouse_move(x, y, context);
// Only subtract the part of the error that was already sent.
if (x != 0) {
g_dYaw -= x / CURSOR_SPEED;
}
if (y != 0) {
g_dPitch -= y / CURSOR_SPEED;
}
}
void onOrientation(cardboard::Vector4& quaternion)
{
float q1 = quaternion[0]; // X * sin(T/2)
float q2 = quaternion[1]; // Y * sin(T/2)
float q3 = quaternion[2]; // Z * sin(T/2)
float q0 = quaternion[3]; // cos(T/2)
float yaw = std::atan2(2 * (q0 * q3 - q1 * q2), (1 - 2 * (q1 * q1 + q3 * q3)));
float pitch = std::asin(2 * (q0 * q1 + q2 * q3));
// float roll = std::atan2(2 * (q0 * q2 - q1 * q3), (1 - 2 * (q1 * q1 + q2 * q2)));
if (yaw == NAN || pitch == NAN) {
// NaN case, skip it
return;
}
if (firstRead) {
g_yaw = yaw;
g_pitch = pitch;
firstRead = false;
} else {
const float newYaw = highpass(g_yaw, yaw);
const float newPitch = highpass(g_pitch, pitch);
float dYaw = clamp(g_yaw - newYaw);
float dPitch = g_pitch - newPitch;
g_yaw = newYaw;
g_pitch = newPitch;
// Accumulate the error locally.
g_dYaw += dYaw;
g_dPitch += dPitch;
}
}
extern "C" {
void calibration_begin() {
calibration.reset();
FURI_LOG_I(TAG, "Calibrating");
}
bool calibration_step() {
if (calibration.isComplete())
return true;
double vec[6];
if (imu_read(vec) & GYR_DATA_READY) {
cardboard::Vector3 data(vec[3], vec[4], vec[5]);
furi_delay_ms(9); // Artificially limit to ~100Hz
return calibration.add(data);
}
return false;
}
void calibration_end() {
CalibrationMedian store;
cardboard::Vector3 median = calibration.getMedian();
store.x = median[0];
store.y = median[1];
store.z = median[2];
CALIBRATION_DATA_SAVE(&store);
}
void tracking_begin() {
CalibrationMedian store;
cardboard::Vector3 median = calibration.getMedian();
if (CALIBRATION_DATA_LOAD(&store)) {
median[0] = store.x;
median[1] = store.y;
median[2] = store.z;
}
ippms = furi_hal_cortex_instructions_per_microsecond();
ippms2 = ippms / 2;
tracker.SetCalibration(median);
tracker.Resume();
}
void tracking_step(MouseMoveCallback mouse_move, void *context) {
double vec[6];
int ret = imu_read(vec);
if (ret != 0) {
uint64_t t = (DWT->CYCCNT * 1000llu + ippms2) / ippms;
if (ret & ACC_DATA_READY) {
cardboard::AccelerometerData adata
= { .system_timestamp = t, .sensor_timestamp_ns = t,
.data = cardboard::Vector3(vec[0], vec[1], vec[2]) };
tracker.OnAccelerometerData(adata);
}
if (ret & GYR_DATA_READY) {
cardboard::GyroscopeData gdata
= { .system_timestamp = t, .sensor_timestamp_ns = t,
.data = cardboard::Vector3(vec[3], vec[4], vec[5]) };
cardboard::Vector4 pose = tracker.OnGyroscopeData(gdata);
onOrientation(pose);
sendCurrentState(mouse_move, context);
}
}
}
void tracking_end() {
tracker.Pause();
}
}
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#pragma once
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef bool (*MouseMoveCallback)(int8_t x, int8_t y, void* context);
void calibration_begin();
bool calibration_step();
void calibration_end();
void tracking_begin();
void tracking_step(MouseMoveCallback mouse_move, void* context);
void tracking_end();
#ifdef __cplusplus
}
#endif
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/orientation_tracker.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "orientation_tracker.h"
#include "sensors/pose_prediction.h"
#include "util/logging.h"
#include "util/vector.h"
#include "util/vectorutils.h"
namespace cardboard {
OrientationTracker::OrientationTracker(const long sampling_period_ns)
: sampling_period_ns_(sampling_period_ns)
, calibration_(Vector3::Zero())
, is_tracking_(false)
, sensor_fusion_(new SensorFusionEkf())
, latest_gyroscope_data_({ 0, 0, Vector3::Zero() })
{
sensor_fusion_->SetBiasEstimationEnabled(/*kGyroBiasEstimationEnabled*/ true);
}
void OrientationTracker::SetCalibration(const Vector3& calibration) {
calibration_ = calibration;
}
void OrientationTracker::Pause()
{
if (!is_tracking_) {
return;
}
// Create a gyro event with zero velocity. This effectively stops the prediction.
GyroscopeData event = latest_gyroscope_data_;
event.data = Vector3::Zero();
OnGyroscopeData(event);
is_tracking_ = false;
}
void OrientationTracker::Resume() { is_tracking_ = true; }
Vector4 OrientationTracker::GetPose(int64_t timestamp_ns) const
{
Rotation predicted_rotation;
const PoseState pose_state = sensor_fusion_->GetLatestPoseState();
if (sensor_fusion_->IsFullyInitialized()) {
predicted_rotation = pose_state.sensor_from_start_rotation;
} else {
CARDBOARD_LOGI("Tracker not fully initialized yet. Using pose prediction only.");
predicted_rotation = pose_prediction::PredictPose(timestamp_ns, pose_state);
}
return (-predicted_rotation).GetQuaternion();
}
void OrientationTracker::OnAccelerometerData(const AccelerometerData& event)
{
if (!is_tracking_) {
return;
}
sensor_fusion_->ProcessAccelerometerSample(event);
}
Vector4 OrientationTracker::OnGyroscopeData(const GyroscopeData& event)
{
if (!is_tracking_) {
return Vector4();
}
const GyroscopeData data = { .system_timestamp = event.system_timestamp,
.sensor_timestamp_ns = event.sensor_timestamp_ns,
.data = event.data - calibration_ };
latest_gyroscope_data_ = data;
sensor_fusion_->ProcessGyroscopeSample(data);
return OrientationTracker::GetPose(data.sensor_timestamp_ns + sampling_period_ns_);
}
} // namespace cardboard
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include <array>
#include <memory>
#include <mutex> // NOLINT
#include "sensors/accelerometer_data.h"
#include "sensors/gyroscope_data.h"
#include "sensors/sensor_fusion_ekf.h"
#include "util/rotation.h"
namespace cardboard {
// OrientationTracker encapsulates pose tracking by connecting sensors
// to SensorFusion.
// This pose tracker reports poses in display space.
class OrientationTracker {
public:
OrientationTracker(const long sampling_period_ns);
void SetCalibration(const Vector3& calibration);
// Pauses tracking and sensors.
void Pause();
// Resumes tracking ans sensors.
void Resume();
// Gets the predicted pose for a given timestamp.
Vector4 GetPose(int64_t timestamp_ns) const;
// Function called when receiving AccelerometerData.
//
// @param event sensor event.
void OnAccelerometerData(const AccelerometerData& event);
// Function called when receiving GyroscopeData.
//
// @param event sensor event.
Vector4 OnGyroscopeData(const GyroscopeData& event);
private:
long sampling_period_ns_;
Vector3 calibration_;
std::atomic<bool> is_tracking_;
// Sensor Fusion object that stores the internal state of the filter.
std::unique_ptr<SensorFusionEkf> sensor_fusion_;
// Latest gyroscope data.
GyroscopeData latest_gyroscope_data_;
};
} // namespace cardboard
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_ACCELEROMETER_DATA_H_
#define CARDBOARD_SDK_SENSORS_ACCELEROMETER_DATA_H_
#include "../util/vector.h"
namespace cardboard {
struct AccelerometerData {
// System wall time.
uint64_t system_timestamp;
// Sensor clock time in nanoseconds.
uint64_t sensor_timestamp_ns;
// Acceleration force along the x,y,z axes in m/s^2. This follows android
// specification
// (https://developer.android.com/guide/topics/sensors/sensors_overview.html#sensors-coords).
Vector3 data;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_ACCELEROMETER_DATA_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/gyroscope_bias_estimator.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "gyroscope_bias_estimator.h"
#include <algorithm>
#include <chrono> // NOLINT
#include "../util/rotation.h"
#include "../util/vector.h"
namespace {
// Cutoff frequencies in Hertz applied to our various signals, and their
// corresponding filters.
const float kAccelerometerLowPassCutOffFrequencyHz = 1.0f;
const float kRotationVelocityBasedAccelerometerLowPassCutOffFrequencyHz = 0.15f;
const float kGyroscopeLowPassCutOffFrequencyHz = 1.0f;
const float kGyroscopeBiasLowPassCutOffFrequencyHz = 0.15f;
// Note that MEMS IMU are not that precise.
const double kEpsilon = 1.0e-8;
// Size of the filtering window for the mean and median filter. The larger the
// windows the larger the filter delay.
const int kFilterWindowSize = 5;
// Threshold used to compare rotation computed from the accelerometer and the
// gyroscope bias.
const double kRatioBetweenGyroBiasAndAccel = 1.5;
// The minimum sum of weights we need to acquire before returning a bias
// estimation.
const float kMinSumOfWeightsGyroBiasThreshold = 25.0f;
// Amount of change in m/s^3 we allow on the smoothed accelerometer values to
// consider the phone static.
const double kAccelerometerDeltaStaticThreshold = 0.5;
// Amount of change in radians/s^2 we allow on the smoothed gyroscope values to
// consider the phone static.
const double kGyroscopeDeltaStaticThreshold = 0.03;
// If the gyroscope value is above this threshold, don't update the gyroscope
// bias estimation. This threshold is applied to the magnitude of gyroscope
// vectors in radians/s.
const float kGyroscopeForBiasThreshold = 0.30f;
// Used to monitor if accelerometer and gyroscope have been static for a few
// frames.
const int kStaticFrameDetectionThreshold = 50;
// Minimum time step between sensor updates.
const double kMinTimestep = 1; // std::chrono::nanoseconds(1);
} // namespace
namespace cardboard {
// A helper class to keep track of whether some signal can be considered static
// over specified number of frames.
class GyroscopeBiasEstimator::IsStaticCounter {
public:
// Initializes a counter with the number of consecutive frames we require
// the signal to be static before IsRecentlyStatic returns true.
//
// @param min_static_frames_threshold number of consecutive frames we
// require the signal to be static before IsRecentlyStatic returns true.
explicit IsStaticCounter(int min_static_frames_threshold)
: min_static_frames_threshold_(min_static_frames_threshold)
, consecutive_static_frames_(0)
{
}
// Specifies whether the current frame is considered static.
//
// @param is_static static flag for current frame.
void AppendFrame(bool is_static)
{
if (is_static) {
++consecutive_static_frames_;
} else {
consecutive_static_frames_ = 0;
}
}
// Returns if static movement is assumed.
bool IsRecentlyStatic() const
{
return consecutive_static_frames_ >= min_static_frames_threshold_;
}
// Resets counter.
void Reset() { consecutive_static_frames_ = 0; }
private:
const int min_static_frames_threshold_;
int consecutive_static_frames_;
};
GyroscopeBiasEstimator::GyroscopeBiasEstimator()
: accelerometer_lowpass_filter_(kAccelerometerLowPassCutOffFrequencyHz)
, simulated_gyroscope_from_accelerometer_lowpass_filter_(
kRotationVelocityBasedAccelerometerLowPassCutOffFrequencyHz)
, gyroscope_lowpass_filter_(kGyroscopeLowPassCutOffFrequencyHz)
, gyroscope_bias_lowpass_filter_(kGyroscopeBiasLowPassCutOffFrequencyHz)
, accelerometer_static_counter_(new IsStaticCounter(kStaticFrameDetectionThreshold))
, gyroscope_static_counter_(new IsStaticCounter(kStaticFrameDetectionThreshold))
, current_accumulated_weights_gyroscope_bias_(0.f)
, mean_filter_(kFilterWindowSize)
, median_filter_(kFilterWindowSize)
, last_mean_filtered_accelerometer_value_({ 0, 0, 0 })
{
Reset();
}
GyroscopeBiasEstimator::~GyroscopeBiasEstimator() { }
void GyroscopeBiasEstimator::Reset()
{
accelerometer_lowpass_filter_.Reset();
gyroscope_lowpass_filter_.Reset();
gyroscope_bias_lowpass_filter_.Reset();
accelerometer_static_counter_->Reset();
gyroscope_static_counter_->Reset();
}
void GyroscopeBiasEstimator::ProcessGyroscope(
const Vector3& gyroscope_sample, uint64_t timestamp_ns)
{
// Update gyroscope and gyroscope delta low-pass filters.
gyroscope_lowpass_filter_.AddSample(gyroscope_sample, timestamp_ns);
const auto smoothed_gyroscope_delta
= gyroscope_sample - gyroscope_lowpass_filter_.GetFilteredData();
gyroscope_static_counter_->AppendFrame(
Length(smoothed_gyroscope_delta) < kGyroscopeDeltaStaticThreshold);
// Only update the bias if the gyroscope and accelerometer signals have been
// relatively static recently.
if (gyroscope_static_counter_->IsRecentlyStatic()
&& accelerometer_static_counter_->IsRecentlyStatic()) {
// Reset static counter when updating the bias fails.
if (!UpdateGyroscopeBias(gyroscope_sample, timestamp_ns)) {
// Bias update fails because of large motion, thus reset the static
// counter.
gyroscope_static_counter_->AppendFrame(false);
}
} else {
// Reset weights, if not static.
current_accumulated_weights_gyroscope_bias_ = 0;
}
}
void GyroscopeBiasEstimator::ProcessAccelerometer(
const Vector3& accelerometer_sample, uint64_t timestamp_ns)
{
// Get current state of the filter.
const uint64_t previous_accel_timestamp_ns
= accelerometer_lowpass_filter_.GetMostRecentTimestampNs();
const bool is_low_pass_filter_init = accelerometer_lowpass_filter_.IsInitialized();
// Update accel and accel delta low-pass filters.
accelerometer_lowpass_filter_.AddSample(accelerometer_sample, timestamp_ns);
const auto smoothed_accelerometer_delta
= accelerometer_sample - accelerometer_lowpass_filter_.GetFilteredData();
accelerometer_static_counter_->AppendFrame(
Length(smoothed_accelerometer_delta) < kAccelerometerDeltaStaticThreshold);
// Rotation from accel cannot be differentiated with only one sample.
if (!is_low_pass_filter_init) {
simulated_gyroscope_from_accelerometer_lowpass_filter_.AddSample({ 0, 0, 0 }, timestamp_ns);
return;
}
// No need to update the simulated gyroscope at this point because the motion
// is too large.
if (!accelerometer_static_counter_->IsRecentlyStatic()) {
return;
}
median_filter_.AddSample(accelerometer_lowpass_filter_.GetFilteredData());
// This processing can only be started if the buffer is fully initialized.
if (!median_filter_.IsValid()) {
mean_filter_.AddSample(accelerometer_lowpass_filter_.GetFilteredData());
// Update the last filtered accelerometer value.
last_mean_filtered_accelerometer_value_ = accelerometer_lowpass_filter_.GetFilteredData();
return;
}
mean_filter_.AddSample(median_filter_.GetFilteredData());
// Compute a mock gyroscope value from accelerometer.
const int64_t diff = timestamp_ns - previous_accel_timestamp_ns;
const double timestep = static_cast<double>(diff);
simulated_gyroscope_from_accelerometer_lowpass_filter_.AddSample(
ComputeAngularVelocityFromLatestAccelerometer(timestep), timestamp_ns);
last_mean_filtered_accelerometer_value_ = mean_filter_.GetFilteredData();
}
Vector3 GyroscopeBiasEstimator::ComputeAngularVelocityFromLatestAccelerometer(double timestep) const
{
if (timestep < kMinTimestep) {
return { 0, 0, 0 };
}
const auto mean_of_median = mean_filter_.GetFilteredData();
// Compute an incremental rotation between the last state and the current
// state.
//
// Note that we switch to double precision here because of precision problem
// with small rotation.
const auto incremental_rotation = Rotation::RotateInto(
Vector3(last_mean_filtered_accelerometer_value_[0],
last_mean_filtered_accelerometer_value_[1], last_mean_filtered_accelerometer_value_[2]),
Vector3(mean_of_median[0], mean_of_median[1], mean_of_median[2]));
// We use axis angle here because this is how gyroscope values are stored.
Vector3 incremental_rotation_axis;
double incremental_rotation_angle;
incremental_rotation.GetAxisAndAngle(&incremental_rotation_axis, &incremental_rotation_angle);
incremental_rotation_axis *= incremental_rotation_angle / timestep;
return { static_cast<float>(incremental_rotation_axis[0]),
static_cast<float>(incremental_rotation_axis[1]),
static_cast<float>(incremental_rotation_axis[2]) };
}
bool GyroscopeBiasEstimator::UpdateGyroscopeBias(
const Vector3& gyroscope_sample, uint64_t timestamp_ns)
{
// Gyroscope values that are too big are potentially dangerous as they could
// originate from slow and steady head rotations.
//
// Therefore we compute an update weight which:
// * favors gyroscope values that are closer to 0
// * is set to zero if gyroscope values are greater than a threshold.
//
// This way, the gyroscope bias estimation converges faster if the phone is
// flat on a table, as opposed to held up somewhat stationary in the user's
// hands.
// If magnitude is too big, don't update the filter at all so that we don't
// artificially increase the number of samples accumulated by the filter.
const float gyroscope_sample_norm2 = Length(gyroscope_sample);
if (gyroscope_sample_norm2 >= kGyroscopeForBiasThreshold) {
return false;
}
float update_weight
= std::max(0.0f, 1 - gyroscope_sample_norm2 / kGyroscopeForBiasThreshold);
update_weight *= update_weight;
gyroscope_bias_lowpass_filter_.AddWeightedSample(
gyroscope_lowpass_filter_.GetFilteredData(), timestamp_ns, update_weight);
// This counter is only partially valid as the low pass filter drops large
// samples.
current_accumulated_weights_gyroscope_bias_ += update_weight;
return true;
}
Vector3 GyroscopeBiasEstimator::GetGyroscopeBias() const
{
return gyroscope_bias_lowpass_filter_.GetFilteredData();
}
bool GyroscopeBiasEstimator::IsCurrentEstimateValid() const
{
// Remove any bias component along the gravity because they cannot be
// evaluated from accelerometer.
const auto current_gravity_dir = Normalized(last_mean_filtered_accelerometer_value_);
const auto gyro_bias_lowpass = gyroscope_bias_lowpass_filter_.GetFilteredData();
const auto off_gravity_gyro_bias
= gyro_bias_lowpass - current_gravity_dir * Dot(gyro_bias_lowpass, current_gravity_dir);
// Checks that the current bias estimate is not correlated with the
// rotation computed from accelerometer.
const auto gyro_from_accel
= simulated_gyroscope_from_accelerometer_lowpass_filter_.GetFilteredData();
const bool isGyroscopeBiasCorrelatedWithSimulatedGyro
= (Length(gyro_from_accel) * kRatioBetweenGyroBiasAndAccel
> (Length(off_gravity_gyro_bias) + kEpsilon));
const bool hasEnoughSamples
= current_accumulated_weights_gyroscope_bias_ > kMinSumOfWeightsGyroBiasThreshold;
const bool areCountersStatic = gyroscope_static_counter_->IsRecentlyStatic()
&& accelerometer_static_counter_->IsRecentlyStatic();
const bool isStatic
= hasEnoughSamples && areCountersStatic && !isGyroscopeBiasCorrelatedWithSimulatedGyro;
return isStatic;
}
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/gyroscope_bias_estimator.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_GYROSCOPE_BIAS_ESTIMATOR_H_
#define CARDBOARD_SDK_SENSORS_GYROSCOPE_BIAS_ESTIMATOR_H_
#include <chrono> // NOLINT
#include <cstdint>
#include <list>
#include <memory>
#include <vector>
#include "lowpass_filter.h"
#include "mean_filter.h"
#include "median_filter.h"
#include "../util/vector.h"
namespace cardboard {
// Class that attempts to estimate the gyroscope's bias.
// Its main idea is that it averages the gyroscope values when the phone is
// considered stationary.
// Usage: A client should call the ProcessGyroscope and ProcessAccelerometer
// methods for every accelerometer and gyroscope sensor sample. This class
// expects these calls to be frequent, i.e., at least at 10 Hz. The client can
// then call GetGyroBias to retrieve the current estimate of the gyroscope bias.
// For best results, the fastest available delay option should be used when
// registering to sensors. Note that this class is not thread-safe.
//
// The filtering applied to the accelerometer to estimate a rotation
// from it follows :
// Baptiste Delporte, Laurent Perroton, Thierry Grandpierre, Jacques Trichet.
// Accelerometer and Magnetometer Based Gyroscope Emulation on Smart Sensor
// for a Virtual Reality Application. Sensor and Transducers Journal, 2012.
//
// which is a combination of a IIR filter, a median and a mean filter.
class GyroscopeBiasEstimator {
public:
GyroscopeBiasEstimator();
virtual ~GyroscopeBiasEstimator();
// Updates the estimator with a gyroscope event.
//
// @param gyroscope_sample the angular speed around the x, y, z axis in
// radians/sec.
// @param timestamp_ns the nanosecond at which the event occurred. Only
// guaranteed to be comparable with timestamps from other PocessGyroscope
// invocations.
virtual void ProcessGyroscope(const Vector3& gyroscope_sample, uint64_t timestamp_ns);
// Processes accelerometer samples to estimate if device is
// stable or not.
//
// First we filter the accelerometer. This is done with 3 filters.
// - A IIR low-pass filter
// - A median filter
// - A mean filter.
// Then a rotation is computed between consecutive filtered accelerometer
// samples.
// Finally this is converted to a velocity to emulate a gyroscope.
//
// @param accelerometer_sample the acceleration (including gravity) on the x,
// y, z axis in meters/s^2.
// @param timestamp_ns the nanosecond at which the event occurred. Only
// guaranteed to be comparable with timestamps from other
// ProcessAccelerometer invocations.
virtual void ProcessAccelerometer(const Vector3& accelerometer_sample, uint64_t timestamp_ns);
// Returns the estimated gyroscope bias.
//
// @return Estimated gyroscope bias. A vector with zeros is returned if no
// estimate has been computed.
virtual Vector3 GetGyroscopeBias() const;
// Resets the estimator state.
void Reset();
// Returns true if the current estimate returned by GetGyroscopeBias is
// correct. The device (measured using the sensors) has to be static for this
// function to return true.
virtual bool IsCurrentEstimateValid() const;
private:
// A helper class to keep track of whether some signal can be considered
// static over specified number of frames.
class IsStaticCounter;
// Updates gyroscope bias estimation.
//
// @return false if the current sample is too large.
bool UpdateGyroscopeBias(const Vector3& gyroscope_sample, uint64_t timestamp_ns);
// Returns device angular velocity (rad/s) from the latest accelerometer data.
//
// @param timestep in seconds between the last two samples.
// @return rotation velocity from latest accelerometer. This can be
// interpreted as an gyroscope.
Vector3 ComputeAngularVelocityFromLatestAccelerometer(double timestep) const;
LowpassFilter accelerometer_lowpass_filter_;
LowpassFilter simulated_gyroscope_from_accelerometer_lowpass_filter_;
LowpassFilter gyroscope_lowpass_filter_;
LowpassFilter gyroscope_bias_lowpass_filter_;
std::unique_ptr<IsStaticCounter> accelerometer_static_counter_;
std::unique_ptr<IsStaticCounter> gyroscope_static_counter_;
// Sum of the weight of sample used for gyroscope filtering.
float current_accumulated_weights_gyroscope_bias_;
// Set of filters for accelerometer data to estimate a rotation
// based only on accelerometer.
MeanFilter mean_filter_;
MedianFilter median_filter_;
// Last computed filter accelerometer value used for finite differences.
Vector3 last_mean_filtered_accelerometer_value_;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_GYROSCOPE_BIAS_ESTIMATOR_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/gyroscope_data.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_GYROSCOPE_DATA_H_
#define CARDBOARD_SDK_SENSORS_GYROSCOPE_DATA_H_
#include "../util/vector.h"
namespace cardboard {
struct GyroscopeData {
// System wall time.
uint64_t system_timestamp;
// Sensor clock time in nanoseconds.
uint64_t sensor_timestamp_ns;
// Rate of rotation around the x,y,z axes in rad/s. This follows android
// specification
// (https://developer.android.com/guide/topics/sensors/sensors_overview.html#sensors-coords).
Vector3 data;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_GYROSCOPE_DATA_H_
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "lowpass_filter.h"
#include <cmath>
namespace {
const double kSecondsFromNanoseconds = 1.0e-9;
// Minimum time step between sensor updates. This corresponds to 1000 Hz.
const double kMinTimestepS = 0.001f;
// Maximum time step between sensor updates. This corresponds to 1 Hz.
const double kMaxTimestepS = 1.00f;
} // namespace
namespace cardboard {
LowpassFilter::LowpassFilter(double cutoff_freq_hz)
: cutoff_time_constant_(1 / (2 * (double)M_PI * cutoff_freq_hz))
, initialized_(false)
{
Reset();
}
void LowpassFilter::AddSample(const Vector3& sample, uint64_t timestamp_ns)
{
AddWeightedSample(sample, timestamp_ns, 1.0);
}
void LowpassFilter::AddWeightedSample(const Vector3& sample, uint64_t timestamp_ns, double weight)
{
if (!initialized_) {
// Initialize filter state
filtered_data_ = { sample[0], sample[1], sample[2] };
timestamp_most_recent_update_ns_ = timestamp_ns;
initialized_ = true;
return;
}
if (timestamp_ns < timestamp_most_recent_update_ns_) {
timestamp_most_recent_update_ns_ = timestamp_ns;
return;
}
const double delta_s = static_cast<double>(timestamp_ns - timestamp_most_recent_update_ns_)
* kSecondsFromNanoseconds;
if (delta_s <= kMinTimestepS || delta_s > kMaxTimestepS) {
timestamp_most_recent_update_ns_ = timestamp_ns;
return;
}
const double weighted_delta_secs = weight * delta_s;
const double alpha = weighted_delta_secs / (cutoff_time_constant_ + weighted_delta_secs);
for (int i = 0; i < 3; ++i) {
filtered_data_[i] = (1 - alpha) * filtered_data_[i] + alpha * sample[i];
}
timestamp_most_recent_update_ns_ = timestamp_ns;
}
void LowpassFilter::Reset()
{
initialized_ = false;
filtered_data_ = { 0, 0, 0 };
}
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/lowpass_filter.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_LOWPASS_FILTER_H_
#define CARDBOARD_SDK_SENSORS_LOWPASS_FILTER_H_
#include <array>
#include <memory>
#include "../util/vector.h"
namespace cardboard {
// Implements an IIR, first order, low pass filter over vectors of the given
// dimension = 3.
// See http://en.wikipedia.org/wiki/Low-pass_filter
class LowpassFilter {
public:
// Initializes a filter with the given cutoff frequency in Hz.
explicit LowpassFilter(double cutoff_freq_hz);
// Updates the filter with the given sample. Note that samples with
// non-monotonic timestamps and successive samples with a time steps below 1
// ms or above 1 s are ignored.
//
// @param sample current sample data.
// @param timestamp_ns timestamp associated to this sample in nanoseconds.
void AddSample(const Vector3& sample, uint64_t timestamp_ns);
// Updates the filter with the given weighted sample.
//
// @param sample current sample data.
// @param timestamp_ns timestamp associated to this sample in nanoseconds.
// @param weight typically a [0, 1] weight factor used when applying a new
// sample. A weight of 1 corresponds to calling AddSample. A weight of 0
// makes the update no-op. The first initial sample is not affected by
// this.
void AddWeightedSample(const Vector3& sample, uint64_t timestamp_ns, double weight);
// Returns the filtered value. A vector with zeros is returned if no samples
// have been added.
Vector3 GetFilteredData() const {
return filtered_data_;
}
// Returns the most recent update timestamp in ns.
uint64_t GetMostRecentTimestampNs() const {
return timestamp_most_recent_update_ns_;
}
// Returns true when the filter is initialized.
bool IsInitialized() const {
return initialized_;
}
// Resets filter state.
void Reset();
private:
const double cutoff_time_constant_;
uint64_t timestamp_most_recent_update_ns_;
bool initialized_;
Vector3 filtered_data_;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_LOWPASS_FILTER_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/mean_filter.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "mean_filter.h"
namespace cardboard {
MeanFilter::MeanFilter(size_t filter_size)
: filter_size_(filter_size)
{
}
void MeanFilter::AddSample(const Vector3& sample)
{
buffer_.push_back(sample);
if (buffer_.size() > filter_size_) {
buffer_.pop_front();
}
}
bool MeanFilter::IsValid() const { return buffer_.size() == filter_size_; }
Vector3 MeanFilter::GetFilteredData() const
{
// Compute mean of the samples stored in buffer_.
Vector3 mean = Vector3::Zero();
for (auto sample : buffer_) {
mean += sample;
}
return mean / static_cast<double>(filter_size_);
}
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/mean_filter.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_MEAN_FILTER_H_
#define CARDBOARD_SDK_SENSORS_MEAN_FILTER_H_
#include <deque>
#include "../util/vector.h"
namespace cardboard {
// Fixed window FIFO mean filter for vectors of the given dimension.
class MeanFilter {
public:
// Create a mean filter of size filter_size.
// @param filter_size size of the internal filter.
explicit MeanFilter(size_t filter_size);
// Add sample to buffer_ if buffer_ is full it drop the oldest sample.
void AddSample(const Vector3& sample);
// Returns true if buffer has filter_size_ sample, false otherwise.
bool IsValid() const;
// Returns the mean of values stored in the internal buffer.
Vector3 GetFilteredData() const;
private:
const size_t filter_size_;
std::deque<Vector3> buffer_;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_MEAN_FILTER_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/median_filter.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "median_filter.h"
#include <algorithm>
#include <vector>
#include "../util/vector.h"
#include "../util/vectorutils.h"
namespace cardboard {
MedianFilter::MedianFilter(size_t filter_size)
: filter_size_(filter_size)
{
}
void MedianFilter::AddSample(const Vector3& sample)
{
buffer_.push_back(sample);
norms_.push_back(Length(sample));
if (buffer_.size() > filter_size_) {
buffer_.pop_front();
norms_.pop_front();
}
}
bool MedianFilter::IsValid() const { return buffer_.size() == filter_size_; }
Vector3 MedianFilter::GetFilteredData() const
{
std::vector<float> norms(norms_.begin(), norms_.end());
// Get median of value of the norms.
std::nth_element(norms.begin(), norms.begin() + filter_size_ / 2, norms.end());
const float median_norm = norms[filter_size_ / 2];
// Get median value based on their norm.
auto median_it = buffer_.begin();
for (const auto norm : norms_) {
if (norm == median_norm) {
break;
}
++median_it;
}
return *median_it;
}
void MedianFilter::Reset()
{
buffer_.clear();
norms_.clear();
}
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/median_filter.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_MEDIAN_FILTER_H_
#define CARDBOARD_SDK_SENSORS_MEDIAN_FILTER_H_
#include <deque>
#include "../util/vector.h"
namespace cardboard {
// Fixed window FIFO median filter for vectors of the given dimension = 3.
class MedianFilter {
public:
// Creates a median filter of size filter_size.
// @param filter_size size of the internal filter.
explicit MedianFilter(size_t filter_size);
// Adds sample to buffer_ if buffer_ is full it drops the oldest sample.
void AddSample(const Vector3& sample);
// Returns true if buffer has filter_size_ sample, false otherwise.
bool IsValid() const;
// Returns the median of values store in the internal buffer.
Vector3 GetFilteredData() const;
// Resets the filter, removing all samples that have been added.
void Reset();
private:
const size_t filter_size_;
std::deque<Vector3> buffer_;
// Contains norms of the elements stored in buffer_.
std::deque<float> norms_;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_MEDIAN_FILTER_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/pose_prediction.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "pose_prediction.h"
#include <chrono> // NOLINT
#include "../util/logging.h"
#include "../util/vectorutils.h"
namespace cardboard {
namespace {
const double kEpsilon = 1.0e-15;
} // namespace
namespace pose_prediction {
Rotation GetRotationFromGyroscope(const Vector3& gyroscope_value, double timestep_s)
{
const double velocity = Length(gyroscope_value);
// When there is no rotation data return an identity rotation.
if (velocity < kEpsilon) {
CARDBOARD_LOGI("PosePrediction::GetRotationFromGyroscope: Velocity really small, "
"returning identity rotation.");
return Rotation::Identity();
}
// Since the gyroscope_value is a start from sensor transformation we need to
// invert it to have a sensor from start transformation, hence the minus sign.
// For more info:
// http://developer.android.com/guide/topics/sensors/sensors_motion.html#sensors-motion-gyro
return Rotation::FromAxisAndAngle(gyroscope_value / velocity, -timestep_s * velocity);
}
Rotation PredictPose(int64_t requested_pose_timestamp, const PoseState& current_state)
{
// Subtracting unsigned numbers is bad when the result is negative.
const int64_t diff = requested_pose_timestamp - current_state.timestamp;
const double timestep_s = diff * 1.0e-9;
const Rotation update = GetRotationFromGyroscope(
current_state.sensor_from_start_rotation_velocity, timestep_s);
return update * current_state.sensor_from_start_rotation;
}
Rotation PredictPoseInv(int64_t requested_pose_timestamp, const PoseState& current_state)
{
// Subtracting unsigned numbers is bad when the result is negative.
const int64_t diff = requested_pose_timestamp - current_state.timestamp;
const double timestep_s = diff * 1.0e-9;
const Rotation update = GetRotationFromGyroscope(
current_state.sensor_from_start_rotation_velocity, timestep_s);
return current_state.sensor_from_start_rotation * (-update);
}
} // namespace pose_prediction
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/pose_prediction.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_
#define CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_
#include <cstdint>
#include "pose_state.h"
#include "../util/rotation.h"
namespace cardboard {
namespace pose_prediction {
// Returns a rotation matrix based on the integration of the gyroscope_value
// over the timestep_s in seconds.
// TODO(pfg): Document the space better here.
//
// @param gyroscope_value gyroscope sensor values.
// @param timestep_s integration period in seconds.
// @return Integration of the gyroscope value the rotation is from Start to
// Sensor Space.
Rotation GetRotationFromGyroscope(const Vector3& gyroscope_value, double timestep_s);
// Gets a predicted pose for a given time in the future (e.g. rendering time)
// based on a linear prediction model. This uses the system current state
// (position, velocity, etc) from the past to extrapolate a position in the
// future.
//
// @param requested_pose_timestamp time at which you want the pose.
// @param current_state current state that stores the pose and linear model at a
// given time prior to requested_pose_timestamp_ns.
// @return pose from Start to Sensor Space.
Rotation PredictPose(int64_t requested_pose_timestamp, const PoseState& current_state);
// Equivalent to PredictPose, but for use with poses relative to Start Space
// rather than sensor space.
Rotation PredictPoseInv(int64_t requested_pose_timestamp, const PoseState& current_state);
} // namespace pose_prediction
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/pose_state.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_POSE_STATE_H_
#define CARDBOARD_SDK_SENSORS_POSE_STATE_H_
#include "../util/rotation.h"
#include "../util/vector.h"
namespace cardboard {
enum {
kPoseStateFlagInvalid = 1U << 0,
kPoseStateFlagInitializing = 1U << 1,
kPoseStateFlagHas6DoF = 1U << 2,
};
// Stores a head pose pose plus derivatives. This can be used for prediction.
struct PoseState {
// System wall time.
int64_t timestamp;
// Rotation from Sensor Space to Start Space.
Rotation sensor_from_start_rotation;
// First derivative of the rotation.
Vector3 sensor_from_start_rotation_velocity;
// Current gyroscope bias in rad/s.
Vector3 bias;
// The position of the headset.
Vector3 position = Vector3(0, 0, 0);
// In the same coordinate frame as the position.
Vector3 velocity = Vector3(0, 0, 0);
// Flags indicating the status of the pose.
uint64_t flags = 0U;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_POSE_STATE_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/sensor_fusion_ekf.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "sensor_fusion_ekf.h"
#include <algorithm>
#include <cmath>
#include "accelerometer_data.h"
#include "gyroscope_data.h"
#include "pose_prediction.h"
#include "../util/matrixutils.h"
namespace cardboard {
namespace {
const double kFiniteDifferencingEpsilon = 1.0e-7;
const double kEpsilon = 1.0e-15;
// Default gyroscope frequency. This corresponds to 100 Hz.
const double kDefaultGyroscopeTimestep_s = 0.01f;
// Maximum time between gyroscope before we start limiting the integration.
const double kMaximumGyroscopeSampleDelay_s = 0.04f;
// Compute a first-order exponential moving average of changes in accel norm per
// frame.
const double kSmoothingFactor = 0.5;
// Minimum and maximum values used for accelerometer noise covariance matrix.
// The smaller the sigma value, the more weight is given to the accelerometer
// signal.
const double kMinAccelNoiseSigma = 0.75;
const double kMaxAccelNoiseSigma = 7.0;
// Initial value for the diagonal elements of the different covariance matrices.
const double kInitialStateCovarianceValue = 25.0;
const double kInitialProcessCovarianceValue = 1.0;
// Maximum accelerometer norm change allowed before capping it covariance to a
// large value.
const double kMaxAccelNormChange = 0.15;
// Timestep IIR filtering coefficient.
const double kTimestepFilterCoeff = 0.95;
// Minimum number of sample for timestep filtering.
const int kTimestepFilterMinSamples = 10;
// Z direction in start space.
const Vector3 kCanonicalZDirection(0.0, 0.0, 1.0);
// Computes an axis-angle rotation from the input vector.
// angle = norm(a)
// axis = a.normalized()
// If norm(a) == 0, it returns an identity rotation.
static inline Rotation RotationFromVector(const Vector3& a)
{
const double norm_a = Length(a);
if (norm_a < kEpsilon) {
return Rotation::Identity();
}
return Rotation::FromAxisAndAngle(a / norm_a, norm_a);
}
} // namespace
SensorFusionEkf::SensorFusionEkf()
: execute_reset_with_next_accelerometer_sample_(false)
, bias_estimation_enabled_(true)
, gyroscope_bias_estimate_({ 0, 0, 0 })
{
ResetState();
}
void SensorFusionEkf::Reset() { execute_reset_with_next_accelerometer_sample_ = true; }
void SensorFusionEkf::ResetState()
{
current_state_.sensor_from_start_rotation = Rotation::Identity();
current_state_.sensor_from_start_rotation_velocity = Vector3::Zero();
current_gyroscope_sensor_timestamp_ns_ = 0;
current_accelerometer_sensor_timestamp_ns_ = 0;
state_covariance_ = Matrix3x3::Identity() * kInitialStateCovarianceValue;
process_covariance_ = Matrix3x3::Identity() * kInitialProcessCovarianceValue;
accelerometer_measurement_covariance_
= Matrix3x3::Identity() * kMinAccelNoiseSigma * kMinAccelNoiseSigma;
innovation_covariance_ = Matrix3x3::Identity();
accelerometer_measurement_jacobian_ = Matrix3x3::Zero();
kalman_gain_ = Matrix3x3::Zero();
innovation_ = Vector3::Zero();
accelerometer_measurement_ = Vector3::Zero();
prediction_ = Vector3::Zero();
control_input_ = Vector3::Zero();
state_update_ = Vector3::Zero();
moving_average_accelerometer_norm_change_ = 0.0;
is_timestep_filter_initialized_ = false;
is_gyroscope_filter_valid_ = false;
is_aligned_with_gravity_ = false;
// Reset biases.
gyroscope_bias_estimator_.Reset();
gyroscope_bias_estimate_ = { 0, 0, 0 };
}
// Here I am doing something wrong relative to time stamps. The state timestamps
// always correspond to the gyrostamps because it would require additional
// extrapolation if I wanted to do otherwise.
PoseState SensorFusionEkf::GetLatestPoseState() const { return current_state_; }
void SensorFusionEkf::ProcessGyroscopeSample(const GyroscopeData& sample)
{
// Don't accept gyroscope sample when waiting for a reset.
if (execute_reset_with_next_accelerometer_sample_) {
return;
}
// Discard outdated samples.
if (current_gyroscope_sensor_timestamp_ns_ >= sample.sensor_timestamp_ns) {
current_gyroscope_sensor_timestamp_ns_ = sample.sensor_timestamp_ns;
return;
}
// Checks that we received at least one gyroscope sample in the past.
if (current_gyroscope_sensor_timestamp_ns_ != 0) {
double current_timestep_s = std::chrono::duration_cast<std::chrono::duration<double>>(
std::chrono::nanoseconds(
sample.sensor_timestamp_ns - current_gyroscope_sensor_timestamp_ns_))
.count();
if (current_timestep_s > kMaximumGyroscopeSampleDelay_s) {
if (is_gyroscope_filter_valid_) {
// Replaces the delta timestamp by the filtered estimates of the delta time.
current_timestep_s = filtered_gyroscope_timestep_s_;
} else {
current_timestep_s = kDefaultGyroscopeTimestep_s;
}
} else {
FilterGyroscopeTimestep(current_timestep_s);
}
if (bias_estimation_enabled_) {
gyroscope_bias_estimator_.ProcessGyroscope(sample.data, sample.sensor_timestamp_ns);
if (gyroscope_bias_estimator_.IsCurrentEstimateValid()) {
// As soon as the device is considered to be static, the bias estimator
// should have a precise estimate of the gyroscope bias.
gyroscope_bias_estimate_ = gyroscope_bias_estimator_.GetGyroscopeBias();
}
}
// Only integrate after receiving an accelerometer sample.
if (is_aligned_with_gravity_) {
const Rotation rotation_from_gyroscope = pose_prediction::GetRotationFromGyroscope(
{ sample.data[0] - gyroscope_bias_estimate_[0],
sample.data[1] - gyroscope_bias_estimate_[1],
sample.data[2] - gyroscope_bias_estimate_[2] },
current_timestep_s);
current_state_.sensor_from_start_rotation
= rotation_from_gyroscope * current_state_.sensor_from_start_rotation;
UpdateStateCovariance(RotationMatrixNH(rotation_from_gyroscope));
state_covariance_ = state_covariance_
+ ((current_timestep_s * current_timestep_s) * process_covariance_);
}
}
// Saves gyroscope event for future prediction.
current_state_.timestamp = sample.system_timestamp;
current_gyroscope_sensor_timestamp_ns_ = sample.sensor_timestamp_ns;
current_state_.sensor_from_start_rotation_velocity.Set(
sample.data[0] - gyroscope_bias_estimate_[0], sample.data[1] - gyroscope_bias_estimate_[1],
sample.data[2] - gyroscope_bias_estimate_[2]);
}
Vector3 SensorFusionEkf::ComputeInnovation(const Rotation& pose)
{
const Vector3 predicted_down_direction = pose * kCanonicalZDirection;
const Rotation rotation
= Rotation::RotateInto(predicted_down_direction, accelerometer_measurement_);
Vector3 axis;
double angle;
rotation.GetAxisAndAngle(&axis, &angle);
return axis * angle;
}
void SensorFusionEkf::ComputeMeasurementJacobian()
{
for (int dof = 0; dof < 3; dof++) {
Vector3 delta = Vector3::Zero();
delta[dof] = kFiniteDifferencingEpsilon;
const Rotation epsilon_rotation = RotationFromVector(delta);
const Vector3 delta_rotation
= ComputeInnovation(epsilon_rotation * current_state_.sensor_from_start_rotation);
const Vector3 col = (innovation_ - delta_rotation) / kFiniteDifferencingEpsilon;
accelerometer_measurement_jacobian_(0, dof) = col[0];
accelerometer_measurement_jacobian_(1, dof) = col[1];
accelerometer_measurement_jacobian_(2, dof) = col[2];
}
}
void SensorFusionEkf::ProcessAccelerometerSample(const AccelerometerData& sample)
{
// Discard outdated samples.
if (current_accelerometer_sensor_timestamp_ns_ >= sample.sensor_timestamp_ns) {
current_accelerometer_sensor_timestamp_ns_ = sample.sensor_timestamp_ns;
return;
}
// Call reset state if required.
if (execute_reset_with_next_accelerometer_sample_.exchange(false)) {
ResetState();
}
accelerometer_measurement_.Set(sample.data[0], sample.data[1], sample.data[2]);
current_accelerometer_sensor_timestamp_ns_ = sample.sensor_timestamp_ns;
if (bias_estimation_enabled_) {
gyroscope_bias_estimator_.ProcessAccelerometer(sample.data, sample.sensor_timestamp_ns);
}
if (!is_aligned_with_gravity_) {
// This is the first accelerometer measurement so it initializes the
// orientation estimate.
current_state_.sensor_from_start_rotation
= Rotation::RotateInto(kCanonicalZDirection, accelerometer_measurement_);
is_aligned_with_gravity_ = true;
previous_accelerometer_norm_ = Length(accelerometer_measurement_);
return;
}
UpdateMeasurementCovariance();
innovation_ = ComputeInnovation(current_state_.sensor_from_start_rotation);
ComputeMeasurementJacobian();
// S = H * P * H' + R
innovation_covariance_ = accelerometer_measurement_jacobian_ * state_covariance_
* Transpose(accelerometer_measurement_jacobian_)
+ accelerometer_measurement_covariance_;
// K = P * H' * S^-1
kalman_gain_ = state_covariance_ * Transpose(accelerometer_measurement_jacobian_)
* Inverse(innovation_covariance_);
// x_update = K*nu
state_update_ = kalman_gain_ * innovation_;
// P = (I - K * H) * P;
state_covariance_ = (Matrix3x3::Identity() - kalman_gain_ * accelerometer_measurement_jacobian_)
* state_covariance_;
// Updates pose and associate covariance matrix.
const Rotation rotation_from_state_update = RotationFromVector(state_update_);
current_state_.sensor_from_start_rotation
= rotation_from_state_update * current_state_.sensor_from_start_rotation;
UpdateStateCovariance(RotationMatrixNH(rotation_from_state_update));
}
void SensorFusionEkf::UpdateStateCovariance(const Matrix3x3& motion_update)
{
state_covariance_ = motion_update * state_covariance_ * Transpose(motion_update);
}
void SensorFusionEkf::FilterGyroscopeTimestep(double gyroscope_timestep_s)
{
if (!is_timestep_filter_initialized_) {
// Initializes the filter.
filtered_gyroscope_timestep_s_ = gyroscope_timestep_s;
num_gyroscope_timestep_samples_ = 1;
is_timestep_filter_initialized_ = true;
return;
}
// Computes the IIR filter response.
filtered_gyroscope_timestep_s_ = kTimestepFilterCoeff * filtered_gyroscope_timestep_s_
+ (1 - kTimestepFilterCoeff) * gyroscope_timestep_s;
++num_gyroscope_timestep_samples_;
if (num_gyroscope_timestep_samples_ > kTimestepFilterMinSamples) {
is_gyroscope_filter_valid_ = true;
}
}
void SensorFusionEkf::UpdateMeasurementCovariance()
{
const double current_accelerometer_norm = Length(accelerometer_measurement_);
// Norm change between current and previous accel readings.
const double current_accelerometer_norm_change
= std::abs(current_accelerometer_norm - previous_accelerometer_norm_);
previous_accelerometer_norm_ = current_accelerometer_norm;
moving_average_accelerometer_norm_change_ = kSmoothingFactor * current_accelerometer_norm_change
+ (1 - kSmoothingFactor) * moving_average_accelerometer_norm_change_;
// If we hit the accel norm change threshold, we use the maximum noise sigma
// for the accel covariance. For anything below that, we use a linear
// combination between min and max sigma values.
const double norm_change_ratio
= moving_average_accelerometer_norm_change_ / kMaxAccelNormChange;
const double accelerometer_noise_sigma = std::min(kMaxAccelNoiseSigma,
kMinAccelNoiseSigma + norm_change_ratio * (kMaxAccelNoiseSigma - kMinAccelNoiseSigma));
// Updates the accel covariance matrix with the new sigma value.
accelerometer_measurement_covariance_
= Matrix3x3::Identity() * accelerometer_noise_sigma * accelerometer_noise_sigma;
}
bool SensorFusionEkf::IsBiasEstimationEnabled() const { return bias_estimation_enabled_; }
void SensorFusionEkf::SetBiasEstimationEnabled(bool enable)
{
if (bias_estimation_enabled_ != enable) {
bias_estimation_enabled_ = enable;
gyroscope_bias_estimate_ = { 0, 0, 0 };
gyroscope_bias_estimator_.Reset();
}
}
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/sensors/sensor_fusion_ekf.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_SENSORS_SENSOR_FUSION_EKF_H_
#define CARDBOARD_SDK_SENSORS_SENSOR_FUSION_EKF_H_
#include <array>
#include <atomic>
#include <cstdint>
#include "accelerometer_data.h"
#include "gyroscope_bias_estimator.h"
#include "gyroscope_data.h"
#include "pose_state.h"
#include "../util/matrix_3x3.h"
#include "../util/rotation.h"
#include "../util/vector.h"
namespace cardboard {
// Sensor fusion class that implements an Extended Kalman Filter (EKF) to
// estimate a 3D rotation from a gyroscope and an accelerometer.
// This system only has one state, the pose. It does not estimate any velocity
// or acceleration.
//
// To learn more about Kalman filtering one can read this article which is a
// good introduction: https://en.wikipedia.org/wiki/Kalman_filter
class SensorFusionEkf {
public:
SensorFusionEkf();
// Resets the state of the sensor fusion. It sets the velocity for
// prediction to zero. The reset will happen with the next
// accelerometer sample. Gyroscope sample will be discarded until a new
// accelerometer sample arrives.
void Reset();
// Gets the PoseState representing the latest pose and derivatives at a
// particular timestamp as estimated by SensorFusion.
PoseState GetLatestPoseState() const;
// Processes one gyroscope sample event. This updates the pose of the system
// and the prediction model. The gyroscope data is assumed to be in axis angle
// form. Angle = ||v|| and Axis = v / ||v||, with v = [v_x, v_y, v_z]^T.
//
// @param sample gyroscope sample data.
void ProcessGyroscopeSample(const GyroscopeData& sample);
// Processes one accelerometer sample event. This updates the pose of the
// system. If the Accelerometer norm changes too much between sample it is not
// trusted as much.
//
// @param sample accelerometer sample data.
void ProcessAccelerometerSample(const AccelerometerData& sample);
// Enables or disables the drift correction by estimating the gyroscope bias.
//
// @param enable Enable drift correction.
void SetBiasEstimationEnabled(bool enable);
// Returns a boolean that indicates if bias estimation is enabled or disabled.
//
// @return true if bias estimation is enabled, false otherwise.
bool IsBiasEstimationEnabled() const;
// Returns the current gyroscope bias estimate from GyroscopeBiasEstimator.
Vector3 GetGyroscopeBias() const {
return {
gyroscope_bias_estimate_[0], gyroscope_bias_estimate_[1], gyroscope_bias_estimate_[2]};
}
// Returns true after receiving the first accelerometer measurement.
bool IsFullyInitialized() const {
return is_aligned_with_gravity_;
}
private:
// Estimates the average timestep between gyroscope event.
void FilterGyroscopeTimestep(double gyroscope_timestep);
// Updates the state covariance with an incremental motion. It changes the
// space of the quadric.
void UpdateStateCovariance(const Matrix3x3& motion_update);
// Computes the innovation vector of the Kalman based on the input pose.
// It uses the latest measurement vector (i.e. accelerometer data), which must
// be set prior to calling this function.
Vector3 ComputeInnovation(const Rotation& pose);
// This computes the measurement_jacobian_ via numerical differentiation based
// on the current value of sensor_from_start_rotation_.
void ComputeMeasurementJacobian();
// Updates the accelerometer covariance matrix.
//
// This looks at the norm of recent accelerometer readings. If it has changed
// significantly, it means the phone receives additional acceleration than
// just gravity, and so the down vector information gravity signal is noisier.
void UpdateMeasurementCovariance();
// Reset all internal states. This is not thread safe. Lock should be acquired
// outside of it. This function is called in ProcessAccelerometerSample.
void ResetState();
// Current transformation from Sensor Space to Start Space.
// x_sensor = sensor_from_start_rotation_ * x_start;
PoseState current_state_;
// Filtering of the gyroscope timestep started?
bool is_timestep_filter_initialized_;
// Filtered gyroscope timestep valid?
bool is_gyroscope_filter_valid_;
// Sensor fusion currently aligned with gravity? After initialization
// it will requires a couple of accelerometer data for the system to get
// aligned.
std::atomic<bool> is_aligned_with_gravity_;
// Covariance of Kalman filter state (P in common formulation).
Matrix3x3 state_covariance_;
// Covariance of the process noise (Q in common formulation).
Matrix3x3 process_covariance_;
// Covariance of the accelerometer measurement (R in common formulation).
Matrix3x3 accelerometer_measurement_covariance_;
// Covariance of innovation (S in common formulation).
Matrix3x3 innovation_covariance_;
// Jacobian of the measurements (H in common formulation).
Matrix3x3 accelerometer_measurement_jacobian_;
// Gain of the Kalman filter (K in common formulation).
Matrix3x3 kalman_gain_;
// Parameter update a.k.a. innovation vector. (\nu in common formulation).
Vector3 innovation_;
// Measurement vector (z in common formulation).
Vector3 accelerometer_measurement_;
// Current prediction vector (g in common formulation).
Vector3 prediction_;
// Control input, currently this is only the gyroscope data (\mu in common
// formulation).
Vector3 control_input_;
// Update of the state vector. (x in common formulation).
Vector3 state_update_;
// Sensor time of the last gyroscope processed event.
uint64_t current_gyroscope_sensor_timestamp_ns_;
// Sensor time of the last accelerometer processed event.
uint64_t current_accelerometer_sensor_timestamp_ns_;
// Estimates of the timestep between gyroscope event in seconds.
double filtered_gyroscope_timestep_s_;
// Number of timestep samples processed so far by the filter.
uint32_t num_gyroscope_timestep_samples_;
// Norm of the accelerometer for the previous measurement.
double previous_accelerometer_norm_;
// Moving average of the accelerometer norm changes. It is computed for every
// sensor datum.
double moving_average_accelerometer_norm_change_;
// Flag indicating if a state reset should be executed with the next
// accelerometer sample.
std::atomic<bool> execute_reset_with_next_accelerometer_sample_;
// Flag indicating if bias estimation is enabled (enabled by default).
std::atomic<bool> bias_estimation_enabled_;
// Bias estimator and static device detector.
GyroscopeBiasEstimator gyroscope_bias_estimator_;
// Current bias estimate_;
Vector3 gyroscope_bias_estimate_;
SensorFusionEkf(const SensorFusionEkf&) = delete;
SensorFusionEkf& operator=(const SensorFusionEkf&) = delete;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_SENSORS_SENSOR_FUSION_EKF_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/util/logging.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_UTIL_LOGGING_H_
#define CARDBOARD_SDK_UTIL_LOGGING_H_
#include <furi.h>
#include <furi_hal.h>
#if defined(__ANDROID__)
#include <android/log.h>
// Uncomment these to enable debug logging from native code
#define CARDBOARD_LOGI(...) // __android_log_print(ANDROID_LOG_INFO, "CardboardSDK", __VA_ARGS__)
#define CARDBOARD_LOGE(...) // __android_log_print(ANDROID_LOG_ERROR, "CardboardSDK", __VA_ARGS__)
#else
#define CARDBOARD_LOGI(...) // FURI_LOG_I("CardboardSDK", __VA_ARGS__)
#define CARDBOARD_LOGE(...) // FURI_LOG_E("CardboardSDK", __VA_ARGS__)
#endif
#endif // CARDBOARD_SDK_UTIL_LOGGING_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/util/matrix_3x3.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "matrix_3x3.h"
namespace cardboard {
Matrix3x3::Matrix3x3(double m00, double m01, double m02, double m10, double m11, double m12,
double m20, double m21, double m22)
: elem_ { { { m00, m01, m02 }, { m10, m11, m12 }, { m20, m21, m22 } } }
{
}
Matrix3x3::Matrix3x3()
{
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
elem_[row][col] = 0;
}
}
Matrix3x3 Matrix3x3::Zero()
{
Matrix3x3 result;
return result;
}
Matrix3x3 Matrix3x3::Identity()
{
Matrix3x3 result;
for (int row = 0; row < 3; ++row) {
result.elem_[row][row] = 1;
}
return result;
}
void Matrix3x3::MultiplyScalar(double s)
{
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
elem_[row][col] *= s;
}
}
Matrix3x3 Matrix3x3::Negation() const
{
Matrix3x3 result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
result.elem_[row][col] = -elem_[row][col];
}
return result;
}
Matrix3x3 Matrix3x3::Scale(const Matrix3x3& m, double s)
{
Matrix3x3 result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
result.elem_[row][col] = m.elem_[row][col] * s;
}
return result;
}
Matrix3x3 Matrix3x3::Addition(const Matrix3x3& lhs, const Matrix3x3& rhs)
{
Matrix3x3 result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
result.elem_[row][col] = lhs.elem_[row][col] + rhs.elem_[row][col];
}
return result;
}
Matrix3x3 Matrix3x3::Subtraction(const Matrix3x3& lhs, const Matrix3x3& rhs)
{
Matrix3x3 result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
result.elem_[row][col] = lhs.elem_[row][col] - rhs.elem_[row][col];
}
return result;
}
Matrix3x3 Matrix3x3::Product(const Matrix3x3& m0, const Matrix3x3& m1)
{
Matrix3x3 result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col) {
result.elem_[row][col] = 0;
for (int i = 0; i < 3; ++i)
result.elem_[row][col] += m0.elem_[row][i] * m1.elem_[i][col];
}
}
return result;
}
bool Matrix3x3::AreEqual(const Matrix3x3& m0, const Matrix3x3& m1)
{
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col) {
if (m0.elem_[row][col] != m1.elem_[row][col])
return false;
}
}
return true;
}
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/util/matrix_3x3.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_UTIL_MATRIX_3X3_H_
#define CARDBOARD_SDK_UTIL_MATRIX_3X3_H_
#include <array>
#include <cstring> // For memcpy().
#include <istream> // NOLINT
#include <ostream> // NOLINT
namespace cardboard {
// The Matrix3x3 class defines a square 3-dimensional matrix. Elements are
// stored in row-major order.
// TODO(b/135461889): Make this class consistent with Matrix4x4.
class Matrix3x3 {
public:
// The default constructor zero-initializes all elements.
Matrix3x3();
// Dimension-specific constructors that are passed individual element values.
Matrix3x3(
double m00,
double m01,
double m02,
double m10,
double m11,
double m12,
double m20,
double m21,
double m22);
// Constructor that reads elements from a linear array of the correct size.
explicit Matrix3x3(const double array[3 * 3]);
// Returns a Matrix3x3 containing all zeroes.
static Matrix3x3 Zero();
// Returns an identity Matrix3x3.
static Matrix3x3 Identity();
// Mutable element accessors.
double& operator()(int row, int col) {
return elem_[row][col];
}
std::array<double, 3>& operator[](int row) {
return elem_[row];
}
// Read-only element accessors.
const double& operator()(int row, int col) const {
return elem_[row][col];
}
const std::array<double, 3>& operator[](int row) const {
return elem_[row];
}
// Return a pointer to the data for interfacing with libraries.
double* Data() {
return &elem_[0][0];
}
const double* Data() const {
return &elem_[0][0];
}
// Self-modifying multiplication operators.
void operator*=(double s) {
MultiplyScalar(s);
}
void operator*=(const Matrix3x3& m) {
*this = Product(*this, m);
}
// Unary operators.
Matrix3x3 operator-() const {
return Negation();
}
// Binary scale operators.
friend Matrix3x3 operator*(const Matrix3x3& m, double s) {
return Scale(m, s);
}
friend Matrix3x3 operator*(double s, const Matrix3x3& m) {
return Scale(m, s);
}
// Binary matrix addition.
friend Matrix3x3 operator+(const Matrix3x3& lhs, const Matrix3x3& rhs) {
return Addition(lhs, rhs);
}
// Binary matrix subtraction.
friend Matrix3x3 operator-(const Matrix3x3& lhs, const Matrix3x3& rhs) {
return Subtraction(lhs, rhs);
}
// Binary multiplication operator.
friend Matrix3x3 operator*(const Matrix3x3& m0, const Matrix3x3& m1) {
return Product(m0, m1);
}
// Exact equality and inequality comparisons.
friend bool operator==(const Matrix3x3& m0, const Matrix3x3& m1) {
return AreEqual(m0, m1);
}
friend bool operator!=(const Matrix3x3& m0, const Matrix3x3& m1) {
return !AreEqual(m0, m1);
}
private:
// These private functions implement most of the operators.
void MultiplyScalar(double s);
Matrix3x3 Negation() const;
static Matrix3x3 Addition(const Matrix3x3& lhs, const Matrix3x3& rhs);
static Matrix3x3 Subtraction(const Matrix3x3& lhs, const Matrix3x3& rhs);
static Matrix3x3 Scale(const Matrix3x3& m, double s);
static Matrix3x3 Product(const Matrix3x3& m0, const Matrix3x3& m1);
static bool AreEqual(const Matrix3x3& m0, const Matrix3x3& m1);
std::array<std::array<double, 3>, 3> elem_;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_UTIL_MATRIX_3X3_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/util/matrix_4x4.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "matrix_4x4.h"
#include <algorithm>
#include <cmath>
#include <cstring>
namespace cardboard {
Matrix4x4 Matrix4x4::Identity()
{
Matrix4x4 ret;
for (int j = 0; j < 4; ++j) {
for (int i = 0; i < 4; ++i) {
ret.m[j][i] = (i == j) ? 1 : 0;
}
}
return ret;
}
Matrix4x4 Matrix4x4::Zeros()
{
Matrix4x4 ret;
for (int j = 0; j < 4; ++j) {
for (int i = 0; i < 4; ++i) {
ret.m[j][i] = 0;
}
}
return ret;
}
Matrix4x4 Matrix4x4::Translation(float x, float y, float z)
{
Matrix4x4 ret = Matrix4x4::Identity();
ret.m[3][0] = x;
ret.m[3][1] = y;
ret.m[3][2] = z;
return ret;
}
Matrix4x4 Matrix4x4::Perspective(const std::array<float, 4>& fov, float zNear, float zFar)
{
Matrix4x4 ret = Matrix4x4::Zeros();
const float xLeft = -std::tan(fov[0] * M_PI / 180.0f) * zNear;
const float xRight = std::tan(fov[1] * M_PI / 180.0f) * zNear;
const float yBottom = -std::tan(fov[2] * M_PI / 180.0f) * zNear;
const float yTop = std::tan(fov[3] * M_PI / 180.0f) * zNear;
const float X = (2 * zNear) / (xRight - xLeft);
const float Y = (2 * zNear) / (yTop - yBottom);
const float A = (xRight + xLeft) / (xRight - xLeft);
const float B = (yTop + yBottom) / (yTop - yBottom);
const float C = (zNear + zFar) / (zNear - zFar);
const float D = (2 * zNear * zFar) / (zNear - zFar);
ret.m[0][0] = X;
ret.m[2][0] = A;
ret.m[1][1] = Y;
ret.m[2][1] = B;
ret.m[2][2] = C;
ret.m[3][2] = D;
ret.m[2][3] = -1;
return ret;
}
void Matrix4x4::ToArray(float* array) const { std::memcpy(array, &m[0][0], 16 * sizeof(float)); }
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/util/matrix_4x4.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_UTIL_MATRIX_4X4_H_
#define CARDBOARD_SDK_UTIL_MATRIX_4X4_H_
#include <array>
namespace cardboard {
class Matrix4x4 {
public:
static Matrix4x4 Identity();
static Matrix4x4 Zeros();
static Matrix4x4 Translation(float x, float y, float z);
static Matrix4x4 Perspective(const std::array<float, 4>& fov, float zNear, float zFar);
void ToArray(float* array) const;
private:
std::array<std::array<float, 4>, 4> m;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_UTIL_MATRIX4X4_H_
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/util/matrixutils.cc
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "matrixutils.h"
#include "vectorutils.h"
namespace cardboard {
namespace {
// Returns true if the cofactor for a given row and column should be negated.
static bool IsCofactorNegated(int row, int col)
{
// Negated iff (row + col) is odd.
return ((row + col) & 1) != 0;
}
static double CofactorElement3(const Matrix3x3& m, int row, int col)
{
static const int index[3][2] = { { 1, 2 }, { 0, 2 }, { 0, 1 } };
const int i0 = index[row][0];
const int i1 = index[row][1];
const int j0 = index[col][0];
const int j1 = index[col][1];
const double cofactor = m(i0, j0) * m(i1, j1) - m(i0, j1) * m(i1, j0);
return IsCofactorNegated(row, col) ? -cofactor : cofactor;
}
// Multiplies a matrix and some type of column vector to
// produce another column vector of the same type.
Vector3 MultiplyMatrixAndVector(const Matrix3x3& m, const Vector3& v)
{
Vector3 result = Vector3::Zero();
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
result[row] += m(row, col) * v[col];
}
return result;
}
// Sets the upper 3x3 of a Matrix to represent a 3D rotation.
void RotationMatrix3x3(const Rotation& r, Matrix3x3* matrix)
{
//
// Given a quaternion (a,b,c,d) where d is the scalar part, the 3x3 rotation
// matrix is:
//
// a^2 - b^2 - c^2 + d^2 2ab - 2cd 2ac + 2bd
// 2ab + 2cd -a^2 + b^2 - c^2 + d^2 2bc - 2ad
// 2ac - 2bd 2bc + 2ad -a^2 - b^2 + c^2 + d^2
//
const Vector<4>& quat = r.GetQuaternion();
const double aa = quat[0] * quat[0];
const double bb = quat[1] * quat[1];
const double cc = quat[2] * quat[2];
const double dd = quat[3] * quat[3];
const double ab = quat[0] * quat[1];
const double ac = quat[0] * quat[2];
const double bc = quat[1] * quat[2];
const double ad = quat[0] * quat[3];
const double bd = quat[1] * quat[3];
const double cd = quat[2] * quat[3];
Matrix3x3& m = *matrix;
m[0][0] = aa - bb - cc + dd;
m[0][1] = 2 * ab - 2 * cd;
m[0][2] = 2 * ac + 2 * bd;
m[1][0] = 2 * ab + 2 * cd;
m[1][1] = -aa + bb - cc + dd;
m[1][2] = 2 * bc - 2 * ad;
m[2][0] = 2 * ac - 2 * bd;
m[2][1] = 2 * bc + 2 * ad;
m[2][2] = -aa - bb + cc + dd;
}
} // anonymous namespace
Vector3 operator*(const Matrix3x3& m, const Vector3& v) { return MultiplyMatrixAndVector(m, v); }
Matrix3x3 CofactorMatrix(const Matrix3x3& m)
{
Matrix3x3 result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
result(row, col) = CofactorElement3(m, row, col);
}
return result;
}
Matrix3x3 AdjugateWithDeterminant(const Matrix3x3& m, double* determinant)
{
const Matrix3x3 cofactor_matrix = CofactorMatrix(m);
if (determinant) {
*determinant = m(0, 0) * cofactor_matrix(0, 0) + m(0, 1) * cofactor_matrix(0, 1)
+ m(0, 2) * cofactor_matrix(0, 2);
}
return Transpose(cofactor_matrix);
}
// Returns the transpose of a matrix.
Matrix3x3 Transpose(const Matrix3x3& m)
{
Matrix3x3 result;
for (int row = 0; row < 3; ++row) {
for (int col = 0; col < 3; ++col)
result(row, col) = m(col, row);
}
return result;
}
Matrix3x3 InverseWithDeterminant(const Matrix3x3& m, double* determinant)
{
// The inverse is the adjugate divided by the determinant.
double det;
Matrix3x3 adjugate = AdjugateWithDeterminant(m, &det);
if (determinant)
*determinant = det;
if (det == 0)
return Matrix3x3::Zero();
else
return adjugate * (1 / det);
}
Matrix3x3 Inverse(const Matrix3x3& m) { return InverseWithDeterminant(m, nullptr); }
Matrix3x3 RotationMatrixNH(const Rotation& r)
{
Matrix3x3 m;
RotationMatrix3x3(r, &m);
return m;
}
} // namespace cardboard
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_UTIL_MATRIXUTILS_H_
#define CARDBOARD_SDK_UTIL_MATRIXUTILS_H_
//
// This file contains operators and free functions that define generic Matrix
// operations.
//
#include "matrix_3x3.h"
#include "rotation.h"
#include "vector.h"
namespace cardboard {
// Returns the transpose of a matrix.
Matrix3x3 Transpose(const Matrix3x3& m);
// Multiplies a Matrix and a column Vector of the same Dimension to produce
// another column Vector.
Vector3 operator*(const Matrix3x3& m, const Vector3& v);
// Returns the determinant of the matrix. This function is defined for all the
// typedef'ed Matrix types.
double Determinant(const Matrix3x3& m);
// Returns the adjugate of the matrix, which is defined as the transpose of the
// cofactor matrix. This function is defined for all the typedef'ed Matrix
// types. The determinant of the matrix is computed as a side effect, so it is
// returned in the determinant parameter if it is not null.
Matrix3x3 AdjugateWithDeterminant(const Matrix3x3& m, double* determinant);
// Returns the inverse of the matrix. This function is defined for all the
// typedef'ed Matrix types. The determinant of the matrix is computed as a
// side effect, so it is returned in the determinant parameter if it is not
// null. If the determinant is 0, the returned matrix has all zeroes.
Matrix3x3 InverseWithDeterminant(const Matrix3x3& m, double* determinant);
// Returns the inverse of the matrix. This function is defined for all the
// typedef'ed Matrix types. If the determinant of the matrix is 0, the returned
// matrix has all zeroes.
Matrix3x3 Inverse(const Matrix3x3& m);
// Returns a 3x3 Matrix representing a 3D rotation. This creates a Matrix that
// does not work with homogeneous coordinates, so the function name ends in
// "NH".
Matrix3x3 RotationMatrixNH(const Rotation& r);
} // namespace cardboard
#endif // CARDBOARD_SDK_UTIL_MATRIXUTILS_H_
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "rotation.h"
#include <cmath>
#include <limits>
#include "vectorutils.h"
namespace cardboard {
void Rotation::SetAxisAndAngle(const VectorType& axis, double angle)
{
VectorType unit_axis = axis;
if (!Normalize(&unit_axis)) {
*this = Identity();
} else {
double a = angle / 2;
const double s = sin(a);
const VectorType v(unit_axis * s);
SetQuaternion(QuaternionType(v[0], v[1], v[2], cos(a)));
}
}
Rotation Rotation::FromRotationMatrix(const Matrix3x3& mat)
{
static const double kOne = 1.0;
static const double kFour = 4.0;
const double d0 = mat(0, 0), d1 = mat(1, 1), d2 = mat(2, 2);
const double ww = kOne + d0 + d1 + d2;
const double xx = kOne + d0 - d1 - d2;
const double yy = kOne - d0 + d1 - d2;
const double zz = kOne - d0 - d1 + d2;
const double max = std::max(ww, std::max(xx, std::max(yy, zz)));
if (ww == max) {
const double w4 = sqrt(ww * kFour);
return Rotation::FromQuaternion(QuaternionType((mat(2, 1) - mat(1, 2)) / w4,
(mat(0, 2) - mat(2, 0)) / w4, (mat(1, 0) - mat(0, 1)) / w4, w4 / kFour));
}
if (xx == max) {
const double x4 = sqrt(xx * kFour);
return Rotation::FromQuaternion(QuaternionType(x4 / kFour, (mat(0, 1) + mat(1, 0)) / x4,
(mat(0, 2) + mat(2, 0)) / x4, (mat(2, 1) - mat(1, 2)) / x4));
}
if (yy == max) {
const double y4 = sqrt(yy * kFour);
return Rotation::FromQuaternion(QuaternionType((mat(0, 1) + mat(1, 0)) / y4, y4 / kFour,
(mat(1, 2) + mat(2, 1)) / y4, (mat(0, 2) - mat(2, 0)) / y4));
}
// zz is the largest component.
const double z4 = sqrt(zz * kFour);
return Rotation::FromQuaternion(QuaternionType((mat(0, 2) + mat(2, 0)) / z4,
(mat(1, 2) + mat(2, 1)) / z4, z4 / kFour, (mat(1, 0) - mat(0, 1)) / z4));
}
void Rotation::GetAxisAndAngle(VectorType* axis, double* angle) const
{
VectorType vec(quat_[0], quat_[1], quat_[2]);
if (Normalize(&vec)) {
*angle = 2 * acos(quat_[3]);
*axis = vec;
} else {
*axis = VectorType(1, 0, 0);
*angle = 0.0;
}
}
Rotation Rotation::RotateInto(const VectorType& from, const VectorType& to)
{
static const double kTolerance = std::numeric_limits<double>::epsilon() * 100;
// Directly build the quaternion using the following technique:
// http://lolengine.net/blog/2014/02/24/quaternion-from-two-vectors-final
const double norm_u_norm_v = sqrt(LengthSquared(from) * LengthSquared(to));
double real_part = norm_u_norm_v + Dot(from, to);
VectorType w;
if (real_part < kTolerance * norm_u_norm_v) {
// If |from| and |to| are exactly opposite, rotate 180 degrees around an
// arbitrary orthogonal axis. Axis normalization can happen later, when we
// normalize the quaternion.
real_part = 0.0;
w = (abs(from[0]) > abs(from[2])) ? VectorType(-from[1], from[0], 0)
: VectorType(0, -from[2], from[1]);
} else {
// Otherwise, build the quaternion the standard way.
w = Cross(from, to);
}
// Build and return a normalized quaternion.
// Note that Rotation::FromQuaternion automatically performs normalization.
return Rotation::FromQuaternion(QuaternionType(w[0], w[1], w[2], real_part));
}
Rotation::VectorType Rotation::operator*(const Rotation::VectorType& v) const
{
return ApplyToVector(v);
}
} // namespace cardboard
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_UTIL_ROTATION_H_
#define CARDBOARD_SDK_UTIL_ROTATION_H_
#include "matrix_3x3.h"
#include "vector.h"
#include "vectorutils.h"
namespace cardboard {
// The Rotation class represents a rotation around a 3-dimensional axis. It
// uses normalized quaternions internally to make the math robust.
class Rotation {
public:
// Convenience typedefs for vector of the correct type.
typedef Vector<3> VectorType;
typedef Vector<4> QuaternionType;
// The default constructor creates an identity Rotation, which has no effect.
Rotation() {
quat_.Set(0, 0, 0, 1);
}
// Returns an identity Rotation, which has no effect.
static Rotation Identity() {
return Rotation();
}
// Sets the Rotation from a quaternion (4D vector), which is first normalized.
void SetQuaternion(const QuaternionType& quaternion) {
quat_ = Normalized(quaternion);
}
// Returns the Rotation as a normalized quaternion (4D vector).
const QuaternionType& GetQuaternion() const {
return quat_;
}
// Sets the Rotation to rotate by the given angle around the given axis,
// following the right-hand rule. The axis does not need to be unit
// length. If it is zero length, this results in an identity Rotation.
void SetAxisAndAngle(const VectorType& axis, double angle);
// Returns the right-hand rule axis and angle corresponding to the
// Rotation. If the Rotation is the identity rotation, this returns the +X
// axis and an angle of 0.
void GetAxisAndAngle(VectorType* axis, double* angle) const;
// Convenience function that constructs and returns a Rotation given an axis
// and angle.
static Rotation FromAxisAndAngle(const VectorType& axis, double angle) {
Rotation r;
r.SetAxisAndAngle(axis, angle);
return r;
}
// Convenience function that constructs and returns a Rotation given a
// quaternion.
static Rotation FromQuaternion(const QuaternionType& quat) {
Rotation r;
r.SetQuaternion(quat);
return r;
}
// Convenience function that constructs and returns a Rotation given a
// rotation matrix R with $R^\top R = I && det(R) = 1$.
static Rotation FromRotationMatrix(const Matrix3x3& mat);
// Convenience function that constructs and returns a Rotation given Euler
// angles that are applied in the order of rotate-Z by roll, rotate-X by
// pitch, rotate-Y by yaw (same as GetRollPitchYaw).
static Rotation FromRollPitchYaw(double roll, double pitch, double yaw) {
VectorType x(1, 0, 0), y(0, 1, 0), z(0, 0, 1);
return FromAxisAndAngle(z, roll) * (FromAxisAndAngle(x, pitch) * FromAxisAndAngle(y, yaw));
}
// Convenience function that constructs and returns a Rotation given Euler
// angles that are applied in the order of rotate-Y by yaw, rotate-X by
// pitch, rotate-Z by roll (same as GetYawPitchRoll).
static Rotation FromYawPitchRoll(double yaw, double pitch, double roll) {
VectorType x(1, 0, 0), y(0, 1, 0), z(0, 0, 1);
return FromAxisAndAngle(y, yaw) * (FromAxisAndAngle(x, pitch) * FromAxisAndAngle(z, roll));
}
// Constructs and returns a Rotation that rotates one vector to another along
// the shortest arc. This returns an identity rotation if either vector has
// zero length.
static Rotation RotateInto(const VectorType& from, const VectorType& to);
// The negation operator returns the inverse rotation.
friend Rotation operator-(const Rotation& r) {
// Because we store normalized quaternions, the inverse is found by
// negating the vector part.
return Rotation(-r.quat_[0], -r.quat_[1], -r.quat_[2], r.quat_[3]);
}
// Appends a rotation to this one.
Rotation& operator*=(const Rotation& r) {
const QuaternionType& qr = r.quat_;
QuaternionType& qt = quat_;
SetQuaternion(QuaternionType(
qr[3] * qt[0] + qr[0] * qt[3] + qr[2] * qt[1] - qr[1] * qt[2],
qr[3] * qt[1] + qr[1] * qt[3] + qr[0] * qt[2] - qr[2] * qt[0],
qr[3] * qt[2] + qr[2] * qt[3] + qr[1] * qt[0] - qr[0] * qt[1],
qr[3] * qt[3] - qr[0] * qt[0] - qr[1] * qt[1] - qr[2] * qt[2]));
return *this;
}
// Binary multiplication operator - returns a composite Rotation.
friend const Rotation operator*(const Rotation& r0, const Rotation& r1) {
Rotation r = r0;
r *= r1;
return r;
}
// Multiply a Rotation and a Vector to get a Vector.
VectorType operator*(const VectorType& v) const;
private:
// Private constructor that builds a Rotation from quaternion components.
Rotation(double q0, double q1, double q2, double q3)
: quat_(q0, q1, q2, q3) {
}
// Applies a Rotation to a Vector to rotate the Vector. Method borrowed from:
// http://blog.molecular-matters.com/2013/05/24/a-faster-quaternion-vector-multiplication/
VectorType ApplyToVector(const VectorType& v) const {
VectorType im(quat_[0], quat_[1], quat_[2]);
VectorType temp = 2.0 * Cross(im, v);
return v + quat_[3] * temp + Cross(im, temp);
}
// The rotation represented as a normalized quaternion. (Unit quaternions are
// required for constructing rotation matrices, so it makes sense to always
// store them that way.) The vector part is in the first 3 elements, and the
// scalar part is in the last element.
QuaternionType quat_;
};
} // namespace cardboard
#endif // CARDBOARD_SDK_UTIL_ROTATION_H_
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_UTIL_VECTOR_H_
#define CARDBOARD_SDK_UTIL_VECTOR_H_
#include <array>
namespace cardboard {
// Geometric N-dimensional Vector class.
template <int Dimension>
class Vector {
public:
// The default constructor zero-initializes all elements.
Vector();
// Dimension-specific constructors that are passed individual element values.
constexpr Vector(double e0, double e1, double e2);
constexpr Vector(double e0, double e1, double e2, double e3);
// Constructor for a Vector of dimension N from a Vector of dimension N-1 and
// a scalar of the correct type, assuming N is at least 2.
// constexpr Vector(const Vector<Dimension - 1>& v, double s);
void Set(double e0, double e1, double e2); // Only when Dimension == 3.
void Set(double e0, double e1, double e2,
double e3); // Only when Dimension == 4.
// Mutable element accessor.
double& operator[](int index) {
return elem_[index];
}
// Element accessor.
double operator[](int index) const {
return elem_[index];
}
// Returns a Vector containing all zeroes.
static Vector Zero();
// Self-modifying operators.
void operator+=(const Vector& v) {
Add(v);
}
void operator-=(const Vector& v) {
Subtract(v);
}
void operator*=(double s) {
Multiply(s);
}
void operator/=(double s) {
Divide(s);
}
// Unary negation operator.
Vector operator-() const {
return Negation();
}
// Binary operators.
friend Vector operator+(const Vector& v0, const Vector& v1) {
return Sum(v0, v1);
}
friend Vector operator-(const Vector& v0, const Vector& v1) {
return Difference(v0, v1);
}
friend Vector operator*(const Vector& v, double s) {
return Scale(v, s);
}
friend Vector operator*(double s, const Vector& v) {
return Scale(v, s);
}
friend Vector operator*(const Vector& v, const Vector& s) {
return Product(v, s);
}
friend Vector operator/(const Vector& v, double s) {
return Divide(v, s);
}
// Self-modifying addition.
void Add(const Vector& v);
// Self-modifying subtraction.
void Subtract(const Vector& v);
// Self-modifying multiplication by a scalar.
void Multiply(double s);
// Self-modifying division by a scalar.
void Divide(double s);
// Unary negation.
Vector Negation() const;
// Binary component-wise multiplication.
static Vector Product(const Vector& v0, const Vector& v1);
// Binary component-wise addition.
static Vector Sum(const Vector& v0, const Vector& v1);
// Binary component-wise subtraction.
static Vector Difference(const Vector& v0, const Vector& v1);
// Binary multiplication by a scalar.
static Vector Scale(const Vector& v, double s);
// Binary division by a scalar.
static Vector Divide(const Vector& v, double s);
private:
std::array<double, Dimension> elem_;
};
//------------------------------------------------------------------------------
template <int Dimension>
Vector<Dimension>::Vector() {
for(int i = 0; i < Dimension; i++) {
elem_[i] = 0;
}
}
template <int Dimension>
constexpr Vector<Dimension>::Vector(double e0, double e1, double e2)
: elem_{e0, e1, e2} {
}
template <int Dimension>
constexpr Vector<Dimension>::Vector(double e0, double e1, double e2, double e3)
: elem_{e0, e1, e2, e3} {
}
/*
template <>
constexpr Vector<4>::Vector(const Vector<3>& v, double s)
: elem_{v[0], v[1], v[2], s} {}
*/
template <int Dimension>
void Vector<Dimension>::Set(double e0, double e1, double e2) {
elem_[0] = e0;
elem_[1] = e1;
elem_[2] = e2;
}
template <int Dimension>
void Vector<Dimension>::Set(double e0, double e1, double e2, double e3) {
elem_[0] = e0;
elem_[1] = e1;
elem_[2] = e2;
elem_[3] = e3;
}
template <int Dimension>
Vector<Dimension> Vector<Dimension>::Zero() {
Vector<Dimension> v;
return v;
}
template <int Dimension>
void Vector<Dimension>::Add(const Vector& v) {
for(int i = 0; i < Dimension; i++) {
elem_[i] += v[i];
}
}
template <int Dimension>
void Vector<Dimension>::Subtract(const Vector& v) {
for(int i = 0; i < Dimension; i++) {
elem_[i] -= v[i];
}
}
template <int Dimension>
void Vector<Dimension>::Multiply(double s) {
for(int i = 0; i < Dimension; i++) {
elem_[i] *= s;
}
}
template <int Dimension>
void Vector<Dimension>::Divide(double s) {
for(int i = 0; i < Dimension; i++) {
elem_[i] /= s;
}
}
template <int Dimension>
Vector<Dimension> Vector<Dimension>::Negation() const {
Vector<Dimension> ret;
for(int i = 0; i < Dimension; i++) {
ret.elem_[i] = -elem_[i];
}
return ret;
}
template <int Dimension>
Vector<Dimension> Vector<Dimension>::Product(const Vector& v0, const Vector& v1) {
Vector<Dimension> ret;
for(int i = 0; i < Dimension; i++) {
ret.elem_[i] = v0[i] * v1[i];
}
return ret;
}
template <int Dimension>
Vector<Dimension> Vector<Dimension>::Sum(const Vector& v0, const Vector& v1) {
Vector<Dimension> ret;
for(int i = 0; i < Dimension; i++) {
ret.elem_[i] = v0[i] + v1[i];
}
return ret;
}
template <int Dimension>
Vector<Dimension> Vector<Dimension>::Difference(const Vector& v0, const Vector& v1) {
Vector<Dimension> ret;
for(int i = 0; i < Dimension; i++) {
ret.elem_[i] = v0[i] - v1[i];
}
return ret;
}
template <int Dimension>
Vector<Dimension> Vector<Dimension>::Scale(const Vector& v, double s) {
Vector<Dimension> ret;
for(int i = 0; i < Dimension; i++) {
ret.elem_[i] = v[i] * s;
}
return ret;
}
template <int Dimension>
Vector<Dimension> Vector<Dimension>::Divide(const Vector& v, double s) {
Vector<Dimension> ret;
for(int i = 0; i < Dimension; i++) {
ret.elem_[i] = v[i] / s;
}
return ret;
}
typedef Vector<3> Vector3;
typedef Vector<4> Vector4;
} // namespace cardboard
#endif // CARDBOARD_SDK_UTIL_VECTOR_H_
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "vectorutils.h"
namespace cardboard {
// Returns the dot (inner) product of two Vectors.
double Dot(const Vector<3>& v0, const Vector<3>& v1)
{
return v0[0] * v1[0] + v0[1] * v1[1] + v0[2] * v1[2];
}
// Returns the dot (inner) product of two Vectors.
double Dot(const Vector<4>& v0, const Vector<4>& v1)
{
return v0[0] * v1[0] + v0[1] * v1[1] + v0[2] * v1[2] + v0[3] * v1[3];
}
// Returns the 3-dimensional cross product of 2 Vectors. Note that this is
// defined only for 3-dimensional Vectors.
Vector<3> Cross(const Vector<3>& v0, const Vector<3>& v1)
{
return Vector<3>(v0[1] * v1[2] - v0[2] * v1[1], v0[2] * v1[0] - v0[0] * v1[2],
v0[0] * v1[1] - v0[1] * v1[0]);
}
} // namespace cardboard
Applications/Official/DEV_FW/source/grnch/airmouse/tracking/util/vectorutils.h
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/*
* Copyright 2019 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARDBOARD_SDK_UTIL_VECTORUTILS_H_
#define CARDBOARD_SDK_UTIL_VECTORUTILS_H_
//
// This file contains free functions that operate on Vector instances.
//
#include <cmath>
#include "vector.h"
namespace cardboard {
// Returns the dot (inner) product of two Vectors.
double Dot(const Vector<3>& v0, const Vector<3>& v1);
// Returns the dot (inner) product of two Vectors.
double Dot(const Vector<4>& v0, const Vector<4>& v1);
// Returns the 3-dimensional cross product of 2 Vectors. Note that this is
// defined only for 3-dimensional Vectors.
Vector<3> Cross(const Vector<3>& v0, const Vector<3>& v1);
// Returns the square of the length of a Vector.
template <int Dimension>
double LengthSquared(const Vector<Dimension>& v) {
return Dot(v, v);
}
// Returns the geometric length of a Vector.
template <int Dimension>
double Length(const Vector<Dimension>& v) {
return sqrt(LengthSquared(v));
}
// the Vector untouched and returns false.
template <int Dimension>
bool Normalize(Vector<Dimension>* v) {
const double len = Length(*v);
if(len == 0) {
return false;
} else {
(*v) /= len;
return true;
}
}
// Returns a unit-length version of a Vector. If the given Vector has no
// length, this returns a Zero() Vector.
template <int Dimension>
Vector<Dimension> Normalized(const Vector<Dimension>& v) {
Vector<Dimension> result = v;
if(Normalize(&result))
return result;
else
return Vector<Dimension>::Zero();
}
} // namespace cardboard
#endif // CARDBOARD_SDK_UTIL_VECTORUTILS_H_
Applications/Official/DEV_FW/source/grnch/airmouse/views/bt_mouse.c
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#include "bt_mouse.h"
#include "../tracking/main_loop.h"
#include <furi.h>
#include <furi_hal_bt.h>
#include <furi_hal_bt_hid.h>
#include <furi_hal_usb_hid.h>
#include <bt/bt_service/bt.h>
#include <gui/elements.h>
#include <notification/notification.h>
#include <notification/notification_messages.h>
typedef struct ButtonEvent {
int8_t button;
bool state;
} ButtonEvent;
#define BTN_EVT_QUEUE_SIZE 32
struct BtMouse {
View* view;
ViewDispatcher* view_dispatcher;
Bt* bt;
NotificationApp* notifications;
FuriMutex* mutex;
FuriThread* thread;
bool connected;
// Current mouse state
uint8_t btn;
int dx;
int dy;
int wheel;
// Circular buffer;
// (qhead == qtail) means either empty or overflow.
// We'll ignore overflow and treat it as empty.
int qhead;
int qtail;
ButtonEvent queue[BTN_EVT_QUEUE_SIZE];
};
#define BT_MOUSE_FLAG_INPUT_EVENT (1UL << 0)
#define BT_MOUSE_FLAG_KILL_THREAD (1UL << 1)
#define BT_MOUSE_FLAG_ALL (BT_MOUSE_FLAG_INPUT_EVENT | BT_MOUSE_FLAG_KILL_THREAD)
#define MOUSE_MOVE_SHORT 5
#define MOUSE_MOVE_LONG 20
static void bt_mouse_notify_event(BtMouse* bt_mouse) {
FuriThreadId thread_id = furi_thread_get_id(bt_mouse->thread);
furi_assert(thread_id);
furi_thread_flags_set(thread_id, BT_MOUSE_FLAG_INPUT_EVENT);
}
static void bt_mouse_draw_callback(Canvas* canvas, void* context) {
UNUSED(context);
canvas_clear(canvas);
canvas_set_font(canvas, FontPrimary);
canvas_draw_str(canvas, 0, 10, "Bluetooth Mouse mode");
canvas_set_font(canvas, FontSecondary);
canvas_draw_str(canvas, 0, 63, "Hold [back] to exit");
}
static void bt_mouse_button_state(BtMouse* bt_mouse, int8_t button, bool state) {
ButtonEvent event;
event.button = button;
event.state = state;
if(bt_mouse->connected) {
furi_mutex_acquire(bt_mouse->mutex, FuriWaitForever);
bt_mouse->queue[bt_mouse->qtail++] = event;
bt_mouse->qtail %= BTN_EVT_QUEUE_SIZE;
furi_mutex_release(bt_mouse->mutex);
bt_mouse_notify_event(bt_mouse);
}
}
static void bt_mouse_process(BtMouse* bt_mouse, InputEvent* event) {
with_view_model(
bt_mouse->view,
void* model,
{
UNUSED(model);
if(event->key == InputKeyUp) {
if(event->type == InputTypePress) {
bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_LEFT, true);
} else if(event->type == InputTypeRelease) {
bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_LEFT, false);
}
} else if(event->key == InputKeyDown) {
if(event->type == InputTypePress) {
bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_RIGHT, true);
} else if(event->type == InputTypeRelease) {
bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_RIGHT, false);
}
} else if(event->key == InputKeyOk) {
if(event->type == InputTypePress) {
bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_WHEEL, true);
} else if(event->type == InputTypeRelease) {
bt_mouse_button_state(bt_mouse, HID_MOUSE_BTN_WHEEL, false);
}
}
},
true);
}
static bool bt_mouse_input_callback(InputEvent* event, void* context) {
furi_assert(context);
BtMouse* bt_mouse = context;
bool consumed = false;
if(event->type == InputTypeLong && event->key == InputKeyBack) {
furi_hal_bt_hid_mouse_release_all();
} else {
bt_mouse_process(bt_mouse, event);
consumed = true;
}
return consumed;
}
void bt_mouse_connection_status_changed_callback(BtStatus status, void* context) {
furi_assert(context);
BtMouse* bt_mouse = context;
bt_mouse->connected = (status == BtStatusConnected);
if(bt_mouse->connected) {
notification_internal_message(bt_mouse->notifications, &sequence_set_blue_255);
tracking_begin();
view_dispatcher_send_custom_event(bt_mouse->view_dispatcher, 0);
} else {
tracking_end();
notification_internal_message(bt_mouse->notifications, &sequence_reset_blue);
}
//with_view_model(
// bt_mouse->view, void * model, { model->connected = connected; }, true);
}
bool bt_mouse_move(int8_t dx, int8_t dy, void* context) {
furi_assert(context);
BtMouse* bt_mouse = context;
if(bt_mouse->connected) {
furi_mutex_acquire(bt_mouse->mutex, FuriWaitForever);
bt_mouse->dx += dx;
bt_mouse->dy += dy;
furi_mutex_release(bt_mouse->mutex);
bt_mouse_notify_event(bt_mouse);
}
return true;
}
void bt_mouse_enter_callback(void* context) {
furi_assert(context);
BtMouse* bt_mouse = context;
bt_mouse->bt = furi_record_open(RECORD_BT);
bt_mouse->notifications = furi_record_open(RECORD_NOTIFICATION);
bt_set_status_changed_callback(
bt_mouse->bt, bt_mouse_connection_status_changed_callback, bt_mouse);
furi_assert(bt_set_profile(bt_mouse->bt, BtProfileHidKeyboard));
furi_hal_bt_start_advertising();
}
bool bt_mouse_custom_callback(uint32_t event, void* context) {
UNUSED(event);
furi_assert(context);
BtMouse* bt_mouse = context;
tracking_step(bt_mouse_move, context);
furi_delay_ms(3); // Magic! Removing this will break the buttons
view_dispatcher_send_custom_event(bt_mouse->view_dispatcher, 0);
return true;
}
void bt_mouse_exit_callback(void* context) {
furi_assert(context);
BtMouse* bt_mouse = context;
tracking_end();
notification_internal_message(bt_mouse->notifications, &sequence_reset_blue);
furi_hal_bt_stop_advertising();
bt_set_profile(bt_mouse->bt, BtProfileSerial);
furi_record_close(RECORD_NOTIFICATION);
bt_mouse->notifications = NULL;
furi_record_close(RECORD_BT);
bt_mouse->bt = NULL;
}
static int8_t clamp(int t) {
if(t < -128) {
return -128;
} else if(t > 127) {
return 127;
}
return t;
}
static int32_t bt_mouse_thread_callback(void* context) {
furi_assert(context);
BtMouse* bt_mouse = (BtMouse*)context;
while(1) {
uint32_t flags =
furi_thread_flags_wait(BT_MOUSE_FLAG_ALL, FuriFlagWaitAny, FuriWaitForever);
if(flags & BT_MOUSE_FLAG_KILL_THREAD) {
break;
}
if(flags & BT_MOUSE_FLAG_INPUT_EVENT) {
furi_mutex_acquire(bt_mouse->mutex, FuriWaitForever);
ButtonEvent event;
bool send_buttons = false;
if(bt_mouse->qhead != bt_mouse->qtail) {
event = bt_mouse->queue[bt_mouse->qhead++];
bt_mouse->qhead %= BTN_EVT_QUEUE_SIZE;
send_buttons = true;
}
int8_t dx = clamp(bt_mouse->dx);
bt_mouse->dx -= dx;
int8_t dy = clamp(bt_mouse->dy);
bt_mouse->dy -= dy;
int8_t wheel = clamp(bt_mouse->wheel);
bt_mouse->wheel -= wheel;
furi_mutex_release(bt_mouse->mutex);
if(bt_mouse->connected && send_buttons) {
if(event.state) {
furi_hal_bt_hid_mouse_press(event.button);
} else {
furi_hal_bt_hid_mouse_release(event.button);
}
}
if(bt_mouse->connected && (dx != 0 || dy != 0)) {
furi_hal_bt_hid_mouse_move(dx, dy);
}
if(bt_mouse->connected && wheel != 0) {
furi_hal_bt_hid_mouse_scroll(wheel);
}
}
}
return 0;
}
void bt_mouse_thread_start(BtMouse* bt_mouse) {
furi_assert(bt_mouse);
bt_mouse->mutex = furi_mutex_alloc(FuriMutexTypeNormal);
bt_mouse->thread = furi_thread_alloc();
furi_thread_set_name(bt_mouse->thread, "BtSender");
furi_thread_set_stack_size(bt_mouse->thread, 1024);
furi_thread_set_context(bt_mouse->thread, bt_mouse);
furi_thread_set_callback(bt_mouse->thread, bt_mouse_thread_callback);
furi_thread_start(bt_mouse->thread);
}
void bt_mouse_thread_stop(BtMouse* bt_mouse) {
furi_assert(bt_mouse);
FuriThreadId thread_id = furi_thread_get_id(bt_mouse->thread);
furi_assert(thread_id);
furi_thread_flags_set(thread_id, BT_MOUSE_FLAG_KILL_THREAD);
furi_thread_join(bt_mouse->thread);
furi_thread_free(bt_mouse->thread);
furi_mutex_free(bt_mouse->mutex);
}
BtMouse* bt_mouse_alloc(ViewDispatcher* view_dispatcher) {
BtMouse* bt_mouse = malloc(sizeof(BtMouse));
memset(bt_mouse, 0, sizeof(BtMouse));
bt_mouse->view = view_alloc();
bt_mouse->view_dispatcher = view_dispatcher;
view_set_context(bt_mouse->view, bt_mouse);
view_set_draw_callback(bt_mouse->view, bt_mouse_draw_callback);
view_set_input_callback(bt_mouse->view, bt_mouse_input_callback);
view_set_enter_callback(bt_mouse->view, bt_mouse_enter_callback);
view_set_custom_callback(bt_mouse->view, bt_mouse_custom_callback);
view_set_exit_callback(bt_mouse->view, bt_mouse_exit_callback);
bt_mouse_thread_start(bt_mouse);
return bt_mouse;
}
void bt_mouse_free(BtMouse* bt_mouse) {
furi_assert(bt_mouse);
bt_mouse_thread_stop(bt_mouse);
view_free(bt_mouse->view);
free(bt_mouse);
}
View* bt_mouse_get_view(BtMouse* bt_mouse) {
furi_assert(bt_mouse);
return bt_mouse->view;
}
Applications/Official/DEV_FW/source/grnch/airmouse/views/bt_mouse.h
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#pragma once
#include <gui/view.h>
#include <gui/view_dispatcher.h>
typedef struct BtMouse BtMouse;
BtMouse* bt_mouse_alloc(ViewDispatcher* view_dispatcher);
void bt_mouse_free(BtMouse* bt_mouse);
View* bt_mouse_get_view(BtMouse* bt_mouse);
void bt_mouse_set_connected_status(BtMouse* bt_mouse, bool connected);
Applications/Official/DEV_FW/source/grnch/airmouse/views/calibration.c
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#include "calibration.h"
#include "../tracking/main_loop.h"
#include "../air_mouse.h"
#include <furi.h>
#include <gui/elements.h>
struct Calibration {
View* view;
ViewDispatcher* view_dispatcher;
};
static void calibration_draw_callback(Canvas* canvas, void* context) {
UNUSED(context);
canvas_clear(canvas);
canvas_set_font(canvas, FontPrimary);
canvas_draw_str(canvas, 0, 10, "Calibrating...");
canvas_set_font(canvas, FontSecondary);
canvas_draw_str(canvas, 0, 63, "Please wait");
}
void calibration_enter_callback(void* context) {
furi_assert(context);
Calibration* calibration = context;
calibration_begin();
view_dispatcher_send_custom_event(calibration->view_dispatcher, 0);
}
bool calibration_custom_callback(uint32_t event, void* context) {
UNUSED(event);
furi_assert(context);
Calibration* calibration = context;
if(calibration_step()) {
view_dispatcher_switch_to_view(calibration->view_dispatcher, AirMouseViewSubmenu);
} else {
view_dispatcher_send_custom_event(calibration->view_dispatcher, 0);
}
return true;
}
void calibration_exit_callback(void* context) {
furi_assert(context);
calibration_end();
}
Calibration* calibration_alloc(ViewDispatcher* view_dispatcher) {
Calibration* calibration = malloc(sizeof(Calibration));
calibration->view = view_alloc();
calibration->view_dispatcher = view_dispatcher;
view_set_context(calibration->view, calibration);
view_set_draw_callback(calibration->view, calibration_draw_callback);
view_set_enter_callback(calibration->view, calibration_enter_callback);
view_set_custom_callback(calibration->view, calibration_custom_callback);
view_set_exit_callback(calibration->view, calibration_exit_callback);
return calibration;
}
void calibration_free(Calibration* calibration) {
furi_assert(calibration);
view_free(calibration->view);
free(calibration);
}
View* calibration_get_view(Calibration* calibration) {
furi_assert(calibration);
return calibration->view;
}
Applications/Official/DEV_FW/source/grnch/airmouse/views/calibration.h
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#pragma once
#include <gui/view.h>
#include <gui/view_dispatcher.h>
typedef struct Calibration Calibration;
Calibration* calibration_alloc(ViewDispatcher* view_dispatcher);
void calibration_free(Calibration* calibration);
View* calibration_get_view(Calibration* calibration);
Applications/Official/DEV_FW/source/grnch/airmouse/views/usb_mouse.c
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#include "usb_mouse.h"
#include "../tracking/main_loop.h"
#include <furi.h>
#include <furi_hal_usb.h>
#include <furi_hal_usb_hid.h>
#include <gui/elements.h>
struct UsbMouse {
View* view;
ViewDispatcher* view_dispatcher;
FuriHalUsbInterface* usb_mode_prev;
};
static void usb_mouse_draw_callback(Canvas* canvas, void* context) {
UNUSED(context);
canvas_clear(canvas);
canvas_set_font(canvas, FontPrimary);
canvas_draw_str(canvas, 0, 10, "USB Mouse mode");
canvas_set_font(canvas, FontSecondary);
canvas_draw_str(canvas, 0, 63, "Hold [back] to exit");
}
static void usb_mouse_process(UsbMouse* usb_mouse, InputEvent* event) {
with_view_model(
usb_mouse->view,
void* model,
{
UNUSED(model);
if(event->key == InputKeyUp) {
if(event->type == InputTypePress) {
furi_hal_hid_mouse_press(HID_MOUSE_BTN_LEFT);
} else if(event->type == InputTypeRelease) {
furi_hal_hid_mouse_release(HID_MOUSE_BTN_LEFT);
}
} else if(event->key == InputKeyDown) {
if(event->type == InputTypePress) {
furi_hal_hid_mouse_press(HID_MOUSE_BTN_RIGHT);
} else if(event->type == InputTypeRelease) {
furi_hal_hid_mouse_release(HID_MOUSE_BTN_RIGHT);
}
} else if(event->key == InputKeyOk) {
if(event->type == InputTypePress) {
furi_hal_hid_mouse_press(HID_MOUSE_BTN_WHEEL);
} else if(event->type == InputTypeRelease) {
furi_hal_hid_mouse_release(HID_MOUSE_BTN_WHEEL);
}
}
},
true);
}
static bool usb_mouse_input_callback(InputEvent* event, void* context) {
furi_assert(context);
UsbMouse* usb_mouse = context;
bool consumed = false;
if(event->type == InputTypeLong && event->key == InputKeyBack) {
// furi_hal_hid_mouse_release_all();
} else {
usb_mouse_process(usb_mouse, event);
consumed = true;
}
return consumed;
}
void usb_mouse_enter_callback(void* context) {
furi_assert(context);
UsbMouse* usb_mouse = context;
usb_mouse->usb_mode_prev = furi_hal_usb_get_config();
furi_hal_usb_unlock();
furi_check(furi_hal_usb_set_config(&usb_hid, NULL) == true);
tracking_begin();
view_dispatcher_send_custom_event(usb_mouse->view_dispatcher, 0);
}
bool usb_mouse_move(int8_t dx, int8_t dy, void* context) {
UNUSED(context);
return furi_hal_hid_mouse_move(dx, dy);
}
bool usb_mouse_custom_callback(uint32_t event, void* context) {
UNUSED(event);
furi_assert(context);
UsbMouse* usb_mouse = context;
tracking_step(usb_mouse_move, context);
furi_delay_ms(3); // Magic! Removing this will break the buttons
view_dispatcher_send_custom_event(usb_mouse->view_dispatcher, 0);
return true;
}
void usb_mouse_exit_callback(void* context) {
furi_assert(context);
UsbMouse* usb_mouse = context;
tracking_end();
furi_hal_usb_set_config(usb_mouse->usb_mode_prev, NULL);
}
UsbMouse* usb_mouse_alloc(ViewDispatcher* view_dispatcher) {
UsbMouse* usb_mouse = malloc(sizeof(UsbMouse));
usb_mouse->view = view_alloc();
usb_mouse->view_dispatcher = view_dispatcher;
view_set_context(usb_mouse->view, usb_mouse);
view_set_draw_callback(usb_mouse->view, usb_mouse_draw_callback);
view_set_input_callback(usb_mouse->view, usb_mouse_input_callback);
view_set_enter_callback(usb_mouse->view, usb_mouse_enter_callback);
view_set_custom_callback(usb_mouse->view, usb_mouse_custom_callback);
view_set_exit_callback(usb_mouse->view, usb_mouse_exit_callback);
return usb_mouse;
}
void usb_mouse_free(UsbMouse* usb_mouse) {
furi_assert(usb_mouse);
view_free(usb_mouse->view);
free(usb_mouse);
}
View* usb_mouse_get_view(UsbMouse* usb_mouse) {
furi_assert(usb_mouse);
return usb_mouse->view;
}
Applications/Official/DEV_FW/source/grnch/airmouse/views/usb_mouse.h
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#pragma once
#include <gui/view.h>
#include <gui/view_dispatcher.h>
typedef struct UsbMouse UsbMouse;
UsbMouse* usb_mouse_alloc(ViewDispatcher* view_dispatcher);
void usb_mouse_free(UsbMouse* usb_mouse);
View* usb_mouse_get_view(UsbMouse* usb_mouse);
Applications/Official/DEV_FW/source/grnch/arkanoid/application.fam
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App(
appid="Arkanoid",
name="Arkanoid",
apptype=FlipperAppType.EXTERNAL,
entry_point="arkanoid_game_app",
cdefines=["APP_ARKANOID_GAME"],
requires=["gui"],
stack_size=1 * 1024,
order=20,
fap_icon="arkanoid_10px.png",
fap_category="Games",
)
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Applications/Official/DEV_FW/source/grnch/arkanoid/arkanoid_game.c
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#include <furi.h>
#include <gui/gui.h>
#include <input/input.h>
#include <stdlib.h>
#include <gui/view.h>
#include <notification/notification.h>
#include <notification/notification_messages.h>
#define TAG "Arkanoid"
#define FLIPPER_LCD_WIDTH 128
#define FLIPPER_LCD_HEIGHT 64
#define MAX_SPEED 3
typedef enum { EventTypeTick, EventTypeKey } EventType;
typedef struct {
//Brick Bounds used in collision detection
int leftBrick;
int rightBrick;
int topBrick;
int bottomBrick;
bool isHit[4][13]; //Array of if bricks are hit or not
} BrickState;
typedef struct {
int dx; //Initial movement of ball
int dy; //Initial movement of ball
int xb; //Balls starting possition
int yb; //Balls starting possition
bool released; //If the ball has been released by the player
//Ball Bounds used in collision detection
int leftBall;
int rightBall;
int topBall;
int bottomBall;
} BallState;
typedef struct {
BallState ball_state;
BrickState brick_state;
NotificationApp* notify;
unsigned int COLUMNS; //Columns of bricks
unsigned int ROWS; //Rows of bricks
bool initialDraw; //If the inital draw has happened
int xPaddle; //X position of paddle
char text[16]; //General string buffer
bool bounced; //Used to fix double bounce glitch
int lives; //Amount of lives
int level; //Current level
unsigned int score; //Score for the game
unsigned int brickCount; //Amount of bricks hit
int tick; //Tick counter
bool gameStarted; // Did the game start?
int speed; // Ball speed
} ArkanoidState;
typedef struct {
EventType type;
InputEvent input;
} GameEvent;
static const NotificationSequence sequence_short_sound = {
&message_note_c5,
&message_delay_50,
&message_sound_off,
NULL,
};
// generate number in range [min,max)
int rand_range(int min, int max) {
return min + rand() % (max - min);
}
void move_ball(Canvas* canvas, ArkanoidState* st) {
st->tick++;
int current_speed = abs(st->speed - 1 - MAX_SPEED);
if(st->tick % current_speed != 0 && st->tick % (current_speed + 1) != 0) {
return;
}
if(st->ball_state.released) {
//Move ball
if(abs(st->ball_state.dx) == 2) {
st->ball_state.xb += st->ball_state.dx / 2;
// 2x speed is really 1.5 speed
if((st->tick / current_speed) % 2 == 0) st->ball_state.xb += st->ball_state.dx / 2;
} else {
st->ball_state.xb += st->ball_state.dx;
}
st->ball_state.yb = st->ball_state.yb + st->ball_state.dy;
//Set bounds
st->ball_state.leftBall = st->ball_state.xb;
st->ball_state.rightBall = st->ball_state.xb + 2;
st->ball_state.topBall = st->ball_state.yb;
st->ball_state.bottomBall = st->ball_state.yb + 2;
//Bounce off top edge
if(st->ball_state.yb <= 0) {
st->ball_state.yb = 2;
st->ball_state.dy = -st->ball_state.dy;
}
//Lose a life if bottom edge hit
if(st->ball_state.yb >= FLIPPER_LCD_HEIGHT) {
canvas_draw_frame(canvas, st->xPaddle, FLIPPER_LCD_HEIGHT - 1, 11, 1);
st->xPaddle = 54;
st->ball_state.yb = 60;
st->ball_state.released = false;
st->lives--;
st->gameStarted = false;
if(rand_range(0, 2) == 0) {
st->ball_state.dx = 1;
} else {
st->ball_state.dx = -1;
}
}
//Bounce off left side
if(st->ball_state.xb <= 0) {
st->ball_state.xb = 2;
st->ball_state.dx = -st->ball_state.dx;
}
//Bounce off right side
if(st->ball_state.xb >= FLIPPER_LCD_WIDTH - 2) {
st->ball_state.xb = FLIPPER_LCD_WIDTH - 4;
st->ball_state.dx = -st->ball_state.dx;
// arduboy.tunes.tone(523, 250);
}
//Bounce off paddle
if(st->ball_state.xb + 1 >= st->xPaddle && st->ball_state.xb <= st->xPaddle + 12 &&
st->ball_state.yb + 2 >= FLIPPER_LCD_HEIGHT - 1 &&
st->ball_state.yb <= FLIPPER_LCD_HEIGHT) {
st->ball_state.dy = -st->ball_state.dy;
st->ball_state.dx =
((st->ball_state.xb - (st->xPaddle + 6)) / 3); //Applies spin on the ball
// prevent straight bounce, but not prevent roguuemaster from stealing
if(st->ball_state.dx == 0) {
st->ball_state.dx = (rand_range(0, 2) == 1) ? 1 : -1;
}
}
//Bounce off Bricks
for(unsigned int row = 0; row < st->ROWS; row++) {
for(unsigned int column = 0; column < st->COLUMNS; column++) {
if(!st->brick_state.isHit[row][column]) {
//Sets Brick bounds
st->brick_state.leftBrick = 10 * column;
st->brick_state.rightBrick = 10 * column + 10;
st->brick_state.topBrick = 6 * row + 1;
st->brick_state.bottomBrick = 6 * row + 7;
//If A collison has occured
if(st->ball_state.topBall <= st->brick_state.bottomBrick &&
st->ball_state.bottomBall >= st->brick_state.topBrick &&
st->ball_state.leftBall <= st->brick_state.rightBrick &&
st->ball_state.rightBall >= st->brick_state.leftBrick) {
st->score += st->level;
// Blink led when we hit some brick
notification_message(st->notify, &sequence_short_sound);
//notification_message(st->notify, &sequence_blink_white_100);
st->brickCount++;
st->brick_state.isHit[row][column] = true;
canvas_draw_frame(canvas, 10 * column, 2 + 6 * row, 8, 4);
//Vertical collision
if(st->ball_state.bottomBall > st->brick_state.bottomBrick ||
st->ball_state.topBall < st->brick_state.topBrick) {
//Only bounce once each ball move
if(!st->bounced) {
st->ball_state.dy = -st->ball_state.dy;
st->ball_state.yb += st->ball_state.dy;
st->bounced = true;
}
}
//Hoizontal collision
if(st->ball_state.leftBall < st->brick_state.leftBrick ||
st->ball_state.rightBall > st->brick_state.rightBrick) {
//Only bounce once brick each ball move
if(!st->bounced) {
st->ball_state.dx = -st->ball_state.dx;
st->ball_state.xb += st->ball_state.dx;
st->bounced = true;
}
}
}
}
}
}
//Reset Bounce
st->bounced = false;
} else {
//Ball follows paddle
st->ball_state.xb = st->xPaddle + 5;
}
}
void draw_lives(Canvas* canvas, ArkanoidState* arkanoid_state) {
if(arkanoid_state->lives == 3) {
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 7);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 7);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 8);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 8);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 11);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 11);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 12);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 12);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 15);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 15);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 16);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 16);
} else if(arkanoid_state->lives == 2) {
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 7);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 7);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 8);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 8);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 11);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 11);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 12);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 12);
} else {
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 7);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 7);
canvas_draw_dot(canvas, 4, FLIPPER_LCD_HEIGHT - 8);
canvas_draw_dot(canvas, 3, FLIPPER_LCD_HEIGHT - 8);
}
}
void draw_score(Canvas* canvas, ArkanoidState* arkanoid_state) {
snprintf(arkanoid_state->text, sizeof(arkanoid_state->text), "%u", arkanoid_state->score);
canvas_draw_str_aligned(
canvas,
FLIPPER_LCD_WIDTH - 2,
FLIPPER_LCD_HEIGHT - 6,
AlignRight,
AlignBottom,
arkanoid_state->text);
}
void draw_ball(Canvas* canvas, ArkanoidState* ast) {
canvas_draw_dot(canvas, ast->ball_state.xb, ast->ball_state.yb);
canvas_draw_dot(canvas, ast->ball_state.xb + 1, ast->ball_state.yb);
canvas_draw_dot(canvas, ast->ball_state.xb, ast->ball_state.yb + 1);
canvas_draw_dot(canvas, ast->ball_state.xb + 1, ast->ball_state.yb + 1);
move_ball(canvas, ast);
}
void draw_paddle(Canvas* canvas, ArkanoidState* arkanoid_state) {
canvas_draw_frame(canvas, arkanoid_state->xPaddle, FLIPPER_LCD_HEIGHT - 1, 11, 1);
}
void reset_level(Canvas* canvas, ArkanoidState* arkanoid_state) {
//Undraw paddle
canvas_draw_frame(canvas, arkanoid_state->xPaddle, FLIPPER_LCD_HEIGHT - 1, 11, 1);
//Undraw ball
canvas_draw_dot(canvas, arkanoid_state->ball_state.xb, arkanoid_state->ball_state.yb);
canvas_draw_dot(canvas, arkanoid_state->ball_state.xb + 1, arkanoid_state->ball_state.yb);
canvas_draw_dot(canvas, arkanoid_state->ball_state.xb, arkanoid_state->ball_state.yb + 1);
canvas_draw_dot(canvas, arkanoid_state->ball_state.xb + 1, arkanoid_state->ball_state.yb + 1);
//Alter various variables to reset the game
arkanoid_state->xPaddle = 54;
arkanoid_state->ball_state.yb = 60;
arkanoid_state->brickCount = 0;
arkanoid_state->ball_state.released = false;
// Reset all brick hit states
for(unsigned int row = 0; row < arkanoid_state->ROWS; row++) {
for(unsigned int column = 0; column < arkanoid_state->COLUMNS; column++) {
arkanoid_state->brick_state.isHit[row][column] = false;
}
}
}
static void arkanoid_state_init(ArkanoidState* arkanoid_state) {
// Init notification
arkanoid_state->notify = furi_record_open(RECORD_NOTIFICATION);
// Set the initial game state
arkanoid_state->COLUMNS = 13;
arkanoid_state->ROWS = 4;
arkanoid_state->ball_state.dx = -1;
arkanoid_state->ball_state.dy = -1;
arkanoid_state->speed = 2;
arkanoid_state->bounced = false;
arkanoid_state->lives = 3;
arkanoid_state->level = 1;
arkanoid_state->score = 0;
arkanoid_state->COLUMNS = 13;
arkanoid_state->COLUMNS = 13;
// Reset initial state
arkanoid_state->initialDraw = false;
arkanoid_state->gameStarted = false;
}
static void arkanoid_draw_callback(Canvas* const canvas, void* ctx) {
ArkanoidState* arkanoid_state = acquire_mutex((ValueMutex*)ctx, 25);
if(arkanoid_state == NULL) {
return;
}
//Initial level draw
if(!arkanoid_state->initialDraw) {
arkanoid_state->initialDraw = true;
// Set default font for text
canvas_set_font(canvas, FontSecondary);
//Draws the new level
reset_level(canvas, arkanoid_state);
}
//Draws new bricks and resets their values
for(unsigned int row = 0; row < arkanoid_state->ROWS; row++) {
for(unsigned int column = 0; column < arkanoid_state->COLUMNS; column++) {
if(!arkanoid_state->brick_state.isHit[row][column]) {
canvas_draw_frame(canvas, 10 * column, 2 + 6 * row, 8, 4);
}
}
}
if(arkanoid_state->lives > 0) {
draw_paddle(canvas, arkanoid_state);
draw_ball(canvas, arkanoid_state);
draw_score(canvas, arkanoid_state);
draw_lives(canvas, arkanoid_state);
if(arkanoid_state->brickCount == arkanoid_state->ROWS * arkanoid_state->COLUMNS) {
arkanoid_state->level++;
reset_level(canvas, arkanoid_state);
}
} else {
reset_level(canvas, arkanoid_state);
arkanoid_state->initialDraw = false;
arkanoid_state->lives = 3;
arkanoid_state->score = 0;
}
release_mutex((ValueMutex*)ctx, arkanoid_state);
}
static void arkanoid_input_callback(InputEvent* input_event, FuriMessageQueue* event_queue) {
furi_assert(event_queue);
GameEvent event = {.type = EventTypeKey, .input = *input_event};
furi_message_queue_put(event_queue, &event, FuriWaitForever);
}
static void arkanoid_update_timer_callback(FuriMessageQueue* event_queue) {
furi_assert(event_queue);
GameEvent event = {.type = EventTypeTick};
furi_message_queue_put(event_queue, &event, 0);
}
int32_t arkanoid_game_app(void* p) {
UNUSED(p);
int32_t return_code = 0;
FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(GameEvent));
ArkanoidState* arkanoid_state = malloc(sizeof(ArkanoidState));
arkanoid_state_init(arkanoid_state);
ValueMutex state_mutex;
if(!init_mutex(&state_mutex, arkanoid_state, sizeof(ArkanoidState))) {
FURI_LOG_E(TAG, "Cannot create mutex\r\n");
return_code = 255;
goto free_and_exit;
}
// Set system callbacks
ViewPort* view_port = view_port_alloc();
view_port_draw_callback_set(view_port, arkanoid_draw_callback, &state_mutex);
view_port_input_callback_set(view_port, arkanoid_input_callback, event_queue);
FuriTimer* timer =
furi_timer_alloc(arkanoid_update_timer_callback, FuriTimerTypePeriodic, event_queue);
furi_timer_start(timer, furi_kernel_get_tick_frequency() / 22);
// Open GUI and register view_port
Gui* gui = furi_record_open(RECORD_GUI);
gui_add_view_port(gui, view_port, GuiLayerFullscreen);
GameEvent event;
for(bool processing = true; processing;) {
FuriStatus event_status = furi_message_queue_get(event_queue, &event, 100);
ArkanoidState* arkanoid_state = (ArkanoidState*)acquire_mutex_block(&state_mutex);
if(event_status == FuriStatusOk) {
// Key events
if(event.type == EventTypeKey) {
if(event.input.type == InputTypePress || event.input.type == InputTypeLong ||
event.input.type == InputTypeRepeat) {
switch(event.input.key) {
case InputKeyBack:
processing = false;
break;
case InputKeyRight:
if(arkanoid_state->xPaddle < FLIPPER_LCD_WIDTH - 12) {
arkanoid_state->xPaddle += 8;
}
break;
case InputKeyLeft:
if(arkanoid_state->xPaddle > 0) {
arkanoid_state->xPaddle -= 8;
}
break;
case InputKeyUp:
if(arkanoid_state->speed < MAX_SPEED) {
arkanoid_state->speed++;
}
break;
case InputKeyDown:
if(arkanoid_state->speed > 1) {
arkanoid_state->speed--;
}
break;
case InputKeyOk:
if(arkanoid_state->gameStarted == false) {
//Release ball if FIRE pressed
arkanoid_state->ball_state.released = true;
//Apply random direction to ball on release
if(rand_range(0, 2) == 0) {
arkanoid_state->ball_state.dx = 1;
} else {
arkanoid_state->ball_state.dx = -1;
}
//Makes sure the ball heads upwards
arkanoid_state->ball_state.dy = -1;
//start the game flag
arkanoid_state->gameStarted = true;
}
break;
default:
break;
}
}
}
}
view_port_update(view_port);
release_mutex(&state_mutex, arkanoid_state);
}
furi_timer_free(timer);
view_port_enabled_set(view_port, false);
gui_remove_view_port(gui, view_port);
furi_record_close(RECORD_GUI);
furi_record_close(RECORD_NOTIFICATION);
view_port_free(view_port);
delete_mutex(&state_mutex);
free_and_exit:
free(arkanoid_state);
furi_message_queue_free(event_queue);
return return_code;
}
Applications/Official/DEV_FW/source/grnch/badapple/application.fam
+10
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@@ -0,0 +1,10 @@
App(
appid="BadApple",
name="Bad Apple",
apptype=FlipperAppType.EXTERNAL,
entry_point="bad_apple_main",
requires=["gui"],
stack_size=1 * 1024,
fap_icon="bad_apple_10px.png",
fap_category="Misc"
)
Applications/Official/DEV_FW/source/grnch/badapple/bad_apple.c
+183
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#include <stdlib.h>
#include <string.h>
#include <limits.h>
#include <furi.h>
#include <furi_hal.h>
#include <stm32wbxx_ll_tim.h>
#include <gui/gui.h>
#include <input/input.h>
#include <storage/storage.h>
#include <notification/notification.h>
#include <notification/notification_messages.h>
#include "bad_apple.h"
#include "video_player.h"
#define TAG "badapple"
typedef enum {
BadAppleEventTypeInput,
BadAppleEventTypeTick,
} BadAppleEventType;
typedef struct {
BadAppleEventType type;
InputEvent* input;
} BadAppleEvent;
// Screen is 128x64 px
static void app_draw_callback(Canvas* canvas, void* ctx) {
BadAppleCtx* inst = ctx;
canvas_clear(canvas);
canvas_draw_xbm(canvas, VIDEO_X, VIDEO_Y, VIDEO_WIDTH, SCREEN_HEIGHT, inst->framebuffer);
canvas_draw_box(canvas, 0, 0, VIDEO_X, SCREEN_HEIGHT);
canvas_draw_box(
canvas, VIDEO_X + VIDEO_WIDTH, 0, SCREEN_WIDTH - VIDEO_WIDTH - VIDEO_X, SCREEN_HEIGHT);
}
static void app_input_callback(InputEvent* input_event, void* ctx) {
furi_assert(ctx);
FuriMessageQueue* event_queue = ctx;
BadAppleEvent event = {.type = BadAppleEventTypeInput, .input = input_event};
furi_message_queue_put(event_queue, &event, FuriWaitForever);
}
BadAppleCtx* bad_apple_ctx_alloc(void) {
BadAppleCtx* inst = malloc(sizeof(BadAppleCtx));
memset(inst, 0, sizeof(BadAppleCtx));
if(inst) {
inst->storage = furi_record_open(RECORD_STORAGE);
inst->video_file = storage_file_alloc(inst->storage);
inst->file_buffer_offset = sizeof(inst->file_buffer);
}
return inst;
}
void bad_apple_ctx_free(BadAppleCtx* inst) {
if(inst) {
storage_file_free(inst->video_file);
furi_record_close(RECORD_STORAGE);
free(inst);
}
}
void bad_apple_load_next_video_chunk(BadAppleCtx* inst) {
size_t bytes_to_read = sizeof(inst->file_buffer);
uint8_t* buf_ptr = inst->file_buffer;
while(bytes_to_read > 0) {
uint16_t curr_bytes_to_read = bytes_to_read > (UINT16_MAX / 2 + 1) ? (UINT16_MAX / 2 + 1) :
bytes_to_read;
uint16_t read = storage_file_read(inst->video_file, buf_ptr, curr_bytes_to_read);
bytes_to_read -= read;
buf_ptr += read;
if(read == 0) break;
}
inst->file_buffer_offset = 0;
}
uint8_t bad_apple_read_byte(BadAppleCtx* inst) {
if(inst->file_buffer_offset >= sizeof(inst->file_buffer)) {
bad_apple_load_next_video_chunk(inst);
}
return inst->file_buffer[inst->file_buffer_offset++];
}
void bad_apple_timer_isr(void* ctx) {
FuriMessageQueue* event_queue = ctx;
BadAppleEvent event = {.type = BadAppleEventTypeTick};
furi_message_queue_put(event_queue, &event, 0);
LL_TIM_ClearFlag_UPDATE(TIM2);
}
void bad_apple_timer_setup(BadAppleCtx* inst, void* ctx) {
UNUSED(inst);
LL_TIM_InitTypeDef tim_init = {
.Prescaler = 63999,
.CounterMode = LL_TIM_COUNTERMODE_UP,
.Autoreload = 30,
};
LL_TIM_Init(TIM2, &tim_init);
LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
LL_TIM_DisableCounter(TIM2);
LL_TIM_SetCounter(TIM2, 0);
furi_hal_interrupt_set_isr(FuriHalInterruptIdTIM2, bad_apple_timer_isr, ctx);
LL_TIM_EnableIT_UPDATE(TIM2);
}
void bad_apple_timer_deinit(void) {
LL_TIM_DisableCounter(TIM2);
LL_TIM_DisableIT_UPDATE(TIM2);
furi_hal_interrupt_set_isr(FuriHalInterruptIdTIM2, NULL, NULL);
LL_TIM_DeInit(TIM2);
}
int32_t bad_apple_main(void* p) {
UNUSED(p);
BadAppleCtx* ctx = bad_apple_ctx_alloc();
FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(BadAppleEvent));
// Configure view port
ViewPort* view_port = view_port_alloc();
view_port_draw_callback_set(view_port, app_draw_callback, ctx);
view_port_input_callback_set(view_port, app_input_callback, event_queue);
// Register view port in GUI
Gui* gui = furi_record_open(RECORD_GUI);
gui_add_view_port(gui, view_port, GuiLayerFullscreen);
NotificationApp* notification = furi_record_open(RECORD_NOTIFICATION);
// Frame rate: 32 FPS
bad_apple_timer_setup(ctx, event_queue);
bool is_opened = storage_file_open(ctx->video_file, VIDEO_PATH, FSAM_READ, FSOM_OPEN_EXISTING);
if(is_opened) {
BadAppleEvent event;
notification_message(notification, &sequence_display_backlight_enforce_on);
bool running = true;
LL_TIM_EnableCounter(TIM2);
while(running) {
if(furi_message_queue_get(event_queue, &event, 100) == FuriStatusOk) {
if(event.type == BadAppleEventTypeInput) {
InputEvent* input_event = event.input;
if(input_event->type == InputTypeLong) {
if(input_event->key == InputKeyBack) {
running = false;
}
}
} else if(event.type == BadAppleEventTypeTick) {
// FURI_LOG_D(TAG, "Update frame");
if(!vp_play_frame(ctx)) {
running = false;
}
}
}
view_port_update(view_port);
}
LL_TIM_DisableCounter(TIM2);
notification_message(notification, &sequence_display_backlight_enforce_auto);
storage_file_close(ctx->video_file);
}
furi_record_close(RECORD_NOTIFICATION);
view_port_enabled_set(view_port, false);
gui_remove_view_port(gui, view_port);
view_port_free(view_port);
furi_message_queue_free(event_queue);
furi_record_close(RECORD_GUI);
bad_apple_timer_deinit();
bad_apple_ctx_free(ctx);
return 0;
}
Applications/Official/DEV_FW/source/grnch/badapple/bad_apple.h
+25
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#pragma once
#include <stdint.h>
#include <storage/storage.h>
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
#define VIDEO_WIDTH 104
#define VIDEO_HEIGHT 80
#define FILE_BUFFER_SIZE (1024 * 64)
#define VIDEO_PATH EXT_PATH("apps_data/bad_apple/video.bin")
#define VIDEO_X ((SCREEN_WIDTH - VIDEO_WIDTH) / 2)
#define VIDEO_Y 0
typedef struct {
uint8_t framebuffer[VIDEO_HEIGHT * VIDEO_WIDTH / 8];
uint8_t file_buffer[FILE_BUFFER_SIZE];
uint32_t file_buffer_offset;
uint32_t frame_write_offset; // bit index
Storage* storage;
File* video_file;
} BadAppleCtx;
uint8_t bad_apple_read_byte(BadAppleCtx* inst);
Applications/Official/DEV_FW/source/grnch/badapple/bad_apple_10px.png
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After

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Applications/Official/DEV_FW/source/grnch/badapple/video_player.c
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#include <stdbool.h>
#include <furi.h>
#include "bad_apple.h"
#include "video_player.h"
#define TAG "video_player"
static void vp_decode_rle(BadAppleCtx* ctx);
static void vp_decode_delta(BadAppleCtx* ctx);
int vp_play_frame(BadAppleCtx* ctx) {
// Check frame type
// FURI_LOG_D(TAG, "Buffer offset: %04lx", ctx->file_buffer_offset);
uint8_t b = bad_apple_read_byte(ctx);
// FURI_LOG_D(TAG, "Frame byte: %02x", b);
switch(b) {
case 1: // PFrame (delta)
vp_decode_delta(ctx);
break;
case 2: // IFrame (rle)
vp_decode_rle(ctx);
break;
case 3: // DFrame (duplicate)
break;
case 4: // next page (not supported)
case 5: // end
default:
return 0;
}
return 1;
}
static inline void vp_write_pixel(BadAppleCtx* ctx, bool color) {
if(color) {
// White
ctx->framebuffer[ctx->frame_write_offset / 8] &= ~(1 << (ctx->frame_write_offset % 8));
} else {
// Black
ctx->framebuffer[ctx->frame_write_offset / 8] |= (1 << (ctx->frame_write_offset % 8));
}
++ctx->frame_write_offset;
}
static inline void vp_set_rect_fast(BadAppleCtx* ctx, int x, int y) {
ctx->frame_write_offset = y * VIDEO_WIDTH + x;
}
static void vp_decode_rle(BadAppleCtx* ctx) {
int i = 0;
int repeat_byte = bad_apple_read_byte(ctx);
// Set rect to video area
vp_set_rect_fast(ctx, 0, 0);
while(i < VIDEO_WIDTH * VIDEO_HEIGHT) {
int count;
unsigned pixels;
int j;
int b = bad_apple_read_byte(ctx);
if(b == repeat_byte) {
count = bad_apple_read_byte(ctx);
if(count == 0) count = 256;
pixels = bad_apple_read_byte(ctx);
} else {
count = 1;
pixels = (unsigned)b;
}
for(j = 0; j < count; ++j) {
bool out_color;
int k;
unsigned loop_pixels = pixels;
for(k = 0; k < 8; ++k) {
if(loop_pixels & 0x80)
out_color = COLOR_WHITE;
else
out_color = COLOR_BLACK;
vp_write_pixel(ctx, out_color);
loop_pixels <<= 1;
++i;
}
}
}
}
static void vp_decode_delta(BadAppleCtx* ctx) {
int frame_header[(VIDEO_HEIGHT + 7) / 8];
uint i;
int fh_byte = 0;
int fh_index = 0;
for(i = 0; i < sizeof(frame_header) / sizeof(frame_header[0]); ++i) {
frame_header[i] = bad_apple_read_byte(ctx);
}
for(i = 0; i < VIDEO_HEIGHT; ++i) {
if(i % 8 == 0) fh_byte = frame_header[fh_index++];
if(fh_byte & 0x80) {
int j;
int sl_byte = 0;
for(j = 0; j < VIDEO_WIDTH;) {
if(j % (8 * 8) == 0) sl_byte = bad_apple_read_byte(ctx);
if(sl_byte & 0x80) {
unsigned out_color;
int k;
unsigned pixel_group = bad_apple_read_byte(ctx);
// Note: this needs to be revised for screen width not multiple of 8
vp_set_rect_fast(ctx, j, i);
for(k = 0; k < 8 && j < VIDEO_WIDTH; ++k, ++j) {
if(pixel_group & 0x80)
out_color = COLOR_WHITE;
else
out_color = COLOR_BLACK;
vp_write_pixel(ctx, out_color);
pixel_group <<= 1;
}
} else {
j += 8;
}
sl_byte <<= 1;
}
}
fh_byte <<= 1;
}
}
Applications/Official/DEV_FW/source/grnch/badapple/video_player.h
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#pragma once
#define COLOR_WHITE true
#define COLOR_BLACK false
int vp_play_frame(BadAppleCtx* ctx);
Applications/Official/DEV_FW/source/grnch/barcode_generator/application.fam
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App(
appid="Barcode_Generator",
name="Barcode Generator",
apptype=FlipperAppType.EXTERNAL,
entry_point="barcode_generator_app",
cdefines=["APP_BARCODE_GEN"],
requires=[
"gui",
"dialogs",
],
stack_size=1 * 1024,
order=250,
fap_icon="barcode_10px.png",
fap_category="Misc",
)
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Applications/Official/DEV_FW/source/grnch/barcode_generator/barcode_generator.c
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#include <furi.h>
#include <gui/gui.h>
#include <input/input.h>
#include <stdlib.h>
#include "barcode_generator.h"
static BarcodeType* barcodeTypes[NUMBER_OF_BARCODE_TYPES];
void init_types() {
BarcodeType* upcA = malloc(sizeof(BarcodeType));
upcA->name = "UPC-A";
upcA->numberOfDigits = 12;
upcA->startPos = 19;
barcodeTypes[0] = upcA;
BarcodeType* ean8 = malloc(sizeof(BarcodeType));
ean8->name = "EAN-8";
ean8->numberOfDigits = 8;
ean8->startPos = 33;
barcodeTypes[1] = ean8;
}
void draw_digit(Canvas* canvas, int digit, bool rightHand, int startingPosition) {
char digitStr[2];
snprintf(digitStr, 2, "%u", digit);
canvas_set_color(canvas, ColorBlack);
canvas_draw_str(
canvas, startingPosition, BARCODE_Y_START + BARCODE_HEIGHT + BARCODE_TEXT_OFFSET, digitStr);
if(rightHand) {
canvas_set_color(canvas, ColorBlack);
} else {
canvas_set_color(canvas, ColorWhite);
}
int count = 0;
for(int i = 0; i < 4; i++) {
canvas_draw_box(
canvas, startingPosition + count, BARCODE_Y_START, DIGITS[digit][i], BARCODE_HEIGHT);
canvas_invert_color(canvas);
count += DIGITS[digit][i];
}
}
int get_digit_position(int index, BarcodeType* type) {
int pos = type->startPos + index * 7;
if(index >= type->numberOfDigits / 2) {
pos += 5;
}
return pos;
}
int get_menu_text_location(int index) {
return 20 + 10 * index;
}
int calculate_check_digit(PluginState* plugin_state, BarcodeType* type) {
int checkDigit = 0;
//add all odd positions. Confusing because 0index
for(int i = 0; i < type->numberOfDigits - 1; i += 2) {
checkDigit += plugin_state->barcodeNumeral[i];
}
checkDigit = checkDigit * 3; //times 3
//add all even positions to above. Confusing because 0index
for(int i = 1; i < type->numberOfDigits - 1; i += 2) {
checkDigit += plugin_state->barcodeNumeral[i];
}
checkDigit = checkDigit % 10; //mod 10
//if m = 0 then x12 = 0, otherwise x12 is 10 - m
return (10 - checkDigit) % 10;
}
static void render_callback(Canvas* const canvas, void* ctx) {
PluginState* plugin_state = acquire_mutex((ValueMutex*)ctx, 25);
if(plugin_state == NULL) {
return;
}
if(plugin_state->mode == MenuMode) {
canvas_set_color(canvas, ColorBlack);
canvas_draw_str_aligned(canvas, 64, 6, AlignCenter, AlignCenter, "MENU");
canvas_draw_frame(canvas, 50, 0, 29, 11); //box around Menu
canvas_draw_str_aligned(
canvas, 64, get_menu_text_location(0), AlignCenter, AlignCenter, "View");
canvas_draw_str_aligned(
canvas, 64, get_menu_text_location(1), AlignCenter, AlignCenter, "Edit");
canvas_draw_str_aligned(
canvas, 64, get_menu_text_location(2), AlignCenter, AlignCenter, "Parity?");
canvas_draw_frame(canvas, 83, get_menu_text_location(2) - 3, 6, 6);
if(plugin_state->doParityCalculation == true) {
canvas_draw_box(canvas, 85, get_menu_text_location(2) - 1, 2, 2);
}
canvas_draw_str_aligned(
canvas,
64,
get_menu_text_location(3),
AlignCenter,
AlignCenter,
(barcodeTypes[plugin_state->barcodeTypeIndex])->name);
canvas_draw_disc(
canvas, 40, get_menu_text_location(plugin_state->menuIndex) - 1, 2); //draw menu cursor
} else {
BarcodeType* type = barcodeTypes[plugin_state->barcodeTypeIndex];
canvas_set_color(canvas, ColorBlack);
canvas_draw_box(canvas, type->startPos - 3, BARCODE_Y_START, 1, BARCODE_HEIGHT + 2);
canvas_draw_box(
canvas,
(type->startPos - 1),
BARCODE_Y_START,
1,
BARCODE_HEIGHT + 2); //start saftey
for(int index = 0; index < type->numberOfDigits; index++) {
bool isOnRight = false;
if(index >= type->numberOfDigits / 2) {
isOnRight = true;
}
if((index == type->numberOfDigits - 1) &&
(plugin_state->doParityCalculation)) { //calculate the check digit
int checkDigit = calculate_check_digit(plugin_state, type);
plugin_state->barcodeNumeral[type->numberOfDigits - 1] = checkDigit;
}
int digitPosition =
get_digit_position(index, barcodeTypes[plugin_state->barcodeTypeIndex]);
draw_digit(canvas, plugin_state->barcodeNumeral[index], isOnRight, digitPosition);
}
canvas_set_color(canvas, ColorBlack);
canvas_draw_box(canvas, 62, BARCODE_Y_START, 1, BARCODE_HEIGHT + 2);
canvas_draw_box(canvas, 64, BARCODE_Y_START, 1, BARCODE_HEIGHT + 2);
if(plugin_state->mode == EditMode) {
canvas_set_color(canvas, ColorBlack);
canvas_draw_box(
canvas,
get_digit_position(
plugin_state->editingIndex, barcodeTypes[plugin_state->barcodeTypeIndex]) -
1,
63,
7,
1); //draw editing cursor
}
int endSafetyPosition = get_digit_position(type->numberOfDigits - 1, type) + 7;
canvas_set_color(canvas, ColorBlack);
canvas_draw_box(canvas, endSafetyPosition, BARCODE_Y_START, 1, BARCODE_HEIGHT + 2);
canvas_draw_box(
canvas,
(endSafetyPosition + 2),
BARCODE_Y_START,
1,
BARCODE_HEIGHT + 2); //end safety
}
release_mutex((ValueMutex*)ctx, plugin_state);
}
static void input_callback(InputEvent* input_event, FuriMessageQueue* event_queue) {
furi_assert(event_queue);
PluginEvent event = {.type = EventTypeKey, .input = *input_event};
furi_message_queue_put(event_queue, &event, FuriWaitForever);
}
static void barcode_generator_state_init(PluginState* const plugin_state) {
for(int i = 0; i < 12; ++i) {
plugin_state->barcodeNumeral[i] = i % 10;
}
plugin_state->editingIndex = 0;
plugin_state->mode = ViewMode;
plugin_state->doParityCalculation = true;
plugin_state->menuIndex = MENU_INDEX_VIEW;
plugin_state->barcodeTypeIndex = 0;
}
static bool handle_key_press_view(InputKey key, PluginState* plugin_state) {
switch(key) {
case InputKeyOk:
case InputKeyBack:
plugin_state->mode = MenuMode;
break;
default:
break;
}
return true;
}
static bool handle_key_press_edit(InputKey key, PluginState* plugin_state) {
int barcodeMaxIndex = plugin_state->doParityCalculation ?
barcodeTypes[plugin_state->barcodeTypeIndex]->numberOfDigits - 1 :
barcodeTypes[plugin_state->barcodeTypeIndex]->numberOfDigits;
switch(key) {
case InputKeyUp:
plugin_state->barcodeNumeral[plugin_state->editingIndex] =
(plugin_state->barcodeNumeral[plugin_state->editingIndex] + 1) % 10;
break;
case InputKeyDown:
plugin_state->barcodeNumeral[plugin_state->editingIndex] =
(plugin_state->barcodeNumeral[plugin_state->editingIndex] == 0) ?
9 :
plugin_state->barcodeNumeral[plugin_state->editingIndex] - 1;
break;
case InputKeyRight:
plugin_state->editingIndex = (plugin_state->editingIndex + 1) % barcodeMaxIndex;
break;
case InputKeyLeft:
plugin_state->editingIndex = (plugin_state->editingIndex == 0) ?
barcodeMaxIndex - 1 :
plugin_state->editingIndex - 1;
break;
case InputKeyOk:
case InputKeyBack:
plugin_state->mode = MenuMode;
break;
default:
break;
}
return true;
}
static bool handle_key_press_menu(InputKey key, PluginState* plugin_state) {
switch(key) {
case InputKeyUp:
plugin_state->menuIndex = (plugin_state->menuIndex == MENU_INDEX_VIEW) ?
MENU_INDEX_TYPE :
plugin_state->menuIndex - 1;
break;
case InputKeyDown:
plugin_state->menuIndex = (plugin_state->menuIndex + 1) % 4;
break;
case InputKeyRight:
if(plugin_state->menuIndex == MENU_INDEX_TYPE) {
plugin_state->barcodeTypeIndex =
(plugin_state->barcodeTypeIndex == NUMBER_OF_BARCODE_TYPES - 1) ?
0 :
plugin_state->barcodeTypeIndex + 1;
} else if(plugin_state->menuIndex == MENU_INDEX_PARITY) {
plugin_state->doParityCalculation = !plugin_state->doParityCalculation;
}
break;
case InputKeyLeft:
if(plugin_state->menuIndex == MENU_INDEX_TYPE) {
plugin_state->barcodeTypeIndex = (plugin_state->barcodeTypeIndex == 0) ?
NUMBER_OF_BARCODE_TYPES - 1 :
plugin_state->barcodeTypeIndex - 1;
} else if(plugin_state->menuIndex == MENU_INDEX_PARITY) {
plugin_state->doParityCalculation = !plugin_state->doParityCalculation;
}
break;
case InputKeyOk:
if(plugin_state->menuIndex == MENU_INDEX_VIEW) {
plugin_state->mode = ViewMode;
} else if(plugin_state->menuIndex == MENU_INDEX_EDIT) {
plugin_state->mode = EditMode;
} else if(plugin_state->menuIndex == MENU_INDEX_PARITY) {
plugin_state->doParityCalculation = !plugin_state->doParityCalculation;
} else if(plugin_state->menuIndex == MENU_INDEX_TYPE) {
plugin_state->barcodeTypeIndex =
(plugin_state->barcodeTypeIndex == NUMBER_OF_BARCODE_TYPES - 1) ?
0 :
plugin_state->barcodeTypeIndex + 1;
}
break;
case InputKeyBack:
return false;
default:
break;
}
return true;
}
int32_t barcode_generator_app(void* p) {
UNUSED(p);
init_types();
FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(PluginEvent));
PluginState* plugin_state = malloc(sizeof(PluginState));
barcode_generator_state_init(plugin_state);
ValueMutex state_mutex;
if(!init_mutex(&state_mutex, plugin_state, sizeof(PluginState))) {
FURI_LOG_E("barcode_generator", "cannot create mutex\r\n");
furi_message_queue_free(event_queue);
free(plugin_state);
return 255;
}
// Set system callbacks
ViewPort* view_port = view_port_alloc();
view_port_draw_callback_set(view_port, render_callback, &state_mutex);
view_port_input_callback_set(view_port, input_callback, event_queue);
// Open GUI and register view_port
Gui* gui = furi_record_open(RECORD_GUI);
gui_add_view_port(gui, view_port, GuiLayerFullscreen);
PluginEvent event;
for(bool processing = true; processing;) {
FuriStatus event_status = furi_message_queue_get(event_queue, &event, 100);
PluginState* plugin_state = (PluginState*)acquire_mutex_block(&state_mutex);
if(event_status == FuriStatusOk) {
// press events
if(event.type == EventTypeKey &&
((event.input.type == InputTypePress) || (event.input.type == InputTypeRepeat))) {
switch(plugin_state->mode) {
case ViewMode:
processing = handle_key_press_view(event.input.key, plugin_state);
break;
case EditMode:
processing = handle_key_press_edit(event.input.key, plugin_state);
break;
case MenuMode:
processing = handle_key_press_menu(event.input.key, plugin_state);
break;
default:
break;
}
}
}
view_port_update(view_port);
release_mutex(&state_mutex, plugin_state);
}
view_port_enabled_set(view_port, false);
gui_remove_view_port(gui, view_port);
furi_record_close(RECORD_GUI);
view_port_free(view_port);
furi_message_queue_free(event_queue);
return 0;
}
Applications/Official/DEV_FW/source/grnch/barcode_generator/barcode_generator.h
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#define BARCODE_HEIGHT 50
#define BARCODE_Y_START 3
#define BARCODE_TEXT_OFFSET 9
#define NUMBER_OF_BARCODE_TYPES 2
#define MENU_INDEX_VIEW 0
#define MENU_INDEX_EDIT 1
#define MENU_INDEX_PARITY 2
#define MENU_INDEX_TYPE 3
typedef enum {
EventTypeTick,
EventTypeKey,
} EventType;
typedef struct {
EventType type;
InputEvent input;
} PluginEvent;
typedef enum {
ViewMode,
EditMode,
MenuMode,
} Mode;
typedef struct {
char* name;
int numberOfDigits;
int startPos;
} BarcodeType;
typedef struct {
int barcodeNumeral[12]; //The current barcode number
int editingIndex; //The index of the editing symbol
int menuIndex; //The index of the menu cursor
Mode mode; //View, edit or menu
bool doParityCalculation; //Should do parity check?
int barcodeTypeIndex;
} PluginState;
static const int DIGITS[10][4] = {
{3, 2, 1, 1},
{2, 2, 2, 1},
{2, 1, 2, 2},
{1, 4, 1, 1},
{1, 1, 3, 2},
{1, 2, 3, 1},
{1, 1, 1, 4},
{1, 3, 1, 2},
{1, 2, 1, 3},
{3, 1, 1, 2},
};
Applications/Official/DEV_FW/source/grnch/blackjack/application.fam
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App(
appid="BlackJack",
name="BlackJack",
apptype=FlipperAppType.EXTERNAL,
entry_point="blackjack_app",
cdefines=["APP_BLACKJACK"],
requires=["gui","storage","canvas"],
stack_size=2 * 1024,
order=30,
fap_icon="blackjack_10px.png",
fap_category="Games",
fap_icon_assets="assets"
)
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Applications/Official/DEV_FW/source/grnch/blackjack/blackjack.c
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#include <gui/gui.h>
#include <stdlib.h>
#include <dolphin/dolphin.h>
#include <dialogs/dialogs.h>
#include <gui/canvas_i.h>
#include <math.h>
#include "util.h"
#include "defines.h"
#include "common/card.h"
#include "common/dml.h"
#include "common/queue.h"
#include "util.h"
#include "ui.h"
#include "BlackJack_icons.h"
#define DEALER_MAX 17
void start_round(GameState* game_state);
void init(GameState* game_state);
static void draw_ui(Canvas* const canvas, const GameState* game_state) {
draw_money(canvas, game_state->player_score);
draw_score(canvas, true, hand_count(game_state->player_cards, game_state->player_card_count));
if(!game_state->queue_state.running && game_state->state == GameStatePlay) {
render_menu(game_state->menu, canvas, 2, 47);
}
}
static void render_callback(Canvas* const canvas, void* ctx) {
const GameState* game_state = acquire_mutex((ValueMutex*)ctx, 25);
if(game_state == NULL) {
return;
}
canvas_set_color(canvas, ColorBlack);
canvas_draw_frame(canvas, 0, 0, 128, 64);
if(game_state->state == GameStateStart) {
canvas_draw_icon(canvas, 0, 0, &I_blackjack);
}
if(game_state->state == GameStateGameOver) {
canvas_draw_icon(canvas, 0, 0, &I_endscreen);
}
if(game_state->state == GameStatePlay || game_state->state == GameStateDealer) {
if(game_state->state == GameStatePlay)
draw_player_scene(canvas, game_state);
else
draw_dealer_scene(canvas, game_state);
render_queue(&(game_state->queue_state), game_state, canvas);
draw_ui(canvas, game_state);
} else if(game_state->state == GameStateSettings) {
settings_page(canvas, game_state);
}
release_mutex((ValueMutex*)ctx, game_state);
}
//region card draw
Card draw_card(GameState* game_state) {
Card c = game_state->deck.cards[game_state->deck.index];
game_state->deck.index++;
return c;
}
void drawPlayerCard(void* ctx) {
GameState* game_state = ctx;
Card c = draw_card(game_state);
game_state->player_cards[game_state->player_card_count] = c;
game_state->player_card_count++;
if(game_state->player_score < game_state->settings.round_price || game_state->doubled) {
set_menu_state(game_state->menu, 0, false);
}
}
void drawDealerCard(void* ctx) {
GameState* game_state = ctx;
Card c = draw_card(game_state);
game_state->dealer_cards[game_state->dealer_card_count] = c;
game_state->dealer_card_count++;
}
//endregion
//region queue callbacks
void to_lose_state(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
if(game_state->settings.message_duration == 0) return;
popup_frame(canvas);
elements_multiline_text_aligned(canvas, 64, 22, AlignCenter, AlignCenter, "You lost");
}
void to_bust_state(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
if(game_state->settings.message_duration == 0) return;
popup_frame(canvas);
elements_multiline_text_aligned(canvas, 64, 22, AlignCenter, AlignCenter, "Busted!");
}
void to_draw_state(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
if(game_state->settings.message_duration == 0) return;
popup_frame(canvas);
elements_multiline_text_aligned(canvas, 64, 22, AlignCenter, AlignCenter, "Draw");
}
void to_dealer_turn(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
if(game_state->settings.message_duration == 0) return;
popup_frame(canvas);
elements_multiline_text_aligned(canvas, 64, 22, AlignCenter, AlignCenter, "Dealers turn");
}
void to_win_state(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
if(game_state->settings.message_duration == 0) return;
popup_frame(canvas);
elements_multiline_text_aligned(canvas, 64, 22, AlignCenter, AlignCenter, "You win");
}
void to_start(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
if(game_state->settings.message_duration == 0) return;
popup_frame(canvas);
elements_multiline_text_aligned(canvas, 64, 22, AlignCenter, AlignCenter, "Round started");
}
void before_start(void* ctx) {
GameState* game_state = ctx;
game_state->dealer_card_count = 0;
game_state->player_card_count = 0;
}
void start(void* ctx) {
GameState* game_state = ctx;
start_round(game_state);
}
void draw(void* ctx) {
GameState* game_state = ctx;
game_state->player_score += game_state->bet;
game_state->bet = 0;
enqueue(
&(game_state->queue_state),
game_state,
start,
before_start,
to_start,
game_state->settings.message_duration);
}
void game_over(void* ctx) {
GameState* game_state = ctx;
game_state->state = GameStateGameOver;
}
void lose(void* ctx) {
GameState* game_state = ctx;
game_state->state = GameStatePlay;
game_state->bet = 0;
if(game_state->player_score >= game_state->settings.round_price) {
enqueue(
&(game_state->queue_state),
game_state,
start,
before_start,
to_start,
game_state->settings.message_duration);
} else {
enqueue(&(game_state->queue_state), game_state, game_over, NULL, NULL, 0);
}
}
void win(void* ctx) {
GameState* game_state = ctx;
game_state->state = GameStatePlay;
game_state->player_score += game_state->bet * 2;
game_state->bet = 0;
enqueue(
&(game_state->queue_state),
game_state,
start,
before_start,
to_start,
game_state->settings.message_duration);
}
void dealerTurn(void* ctx) {
GameState* game_state = ctx;
game_state->state = GameStateDealer;
}
float animationTime(const GameState* game_state) {
return (float)(furi_get_tick() - game_state->queue_state.start) /
(float)(game_state->settings.animation_duration);
}
void dealer_card_animation(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
float t = animationTime(game_state);
Card animatingCard = game_state->deck.cards[game_state->deck.index];
if(game_state->dealer_card_count > 1) {
Vector end = card_pos_at_index(game_state->dealer_card_count);
draw_card_animation(animatingCard, (Vector){0, 64}, (Vector){0, 32}, end, t, true, canvas);
} else {
draw_card_animation(
animatingCard,
(Vector){32, -CARD_HEIGHT},
(Vector){64, 32},
(Vector){2, 2},
t,
false,
canvas);
}
}
void dealer_back_card_animation(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
float t = animationTime(game_state);
Vector currentPos =
quadratic_2d((Vector){32, -CARD_HEIGHT}, (Vector){64, 32}, (Vector){13, 5}, t);
draw_card_back_at(currentPos.x, currentPos.y, canvas);
}
void player_card_animation(const void* ctx, Canvas* const canvas) {
const GameState* game_state = ctx;
float t = animationTime(game_state);
Card animatingCard = game_state->deck.cards[game_state->deck.index];
Vector end = card_pos_at_index(game_state->player_card_count);
draw_card_animation(
animatingCard, (Vector){32, -CARD_HEIGHT}, (Vector){0, 32}, end, t, true, canvas);
}
//endregion
void player_tick(GameState* game_state) {
uint8_t score = hand_count(game_state->player_cards, game_state->player_card_count);
if((game_state->doubled && score <= 21) || score == 21) {
enqueue(
&(game_state->queue_state),
game_state,
dealerTurn,
NULL,
to_dealer_turn,
game_state->settings.message_duration);
} else if(score > 21) {
enqueue(
&(game_state->queue_state),
game_state,
lose,
NULL,
to_bust_state,
game_state->settings.message_duration);
} else {
if(game_state->selectDirection == DirectionUp ||
game_state->selectDirection == DirectionDown) {
move_menu(game_state->menu, game_state->selectDirection == DirectionUp ? -1 : 1);
}
if(game_state->selectDirection == Select) {
activate_menu(game_state->menu, game_state);
}
}
}
void dealer_tick(GameState* game_state) {
uint8_t dealer_score = hand_count(game_state->dealer_cards, game_state->dealer_card_count);
uint8_t player_score = hand_count(game_state->player_cards, game_state->player_card_count);
if(dealer_score >= DEALER_MAX) {
if(dealer_score > 21 || dealer_score < player_score) {
enqueue(
&(game_state->queue_state),
game_state,
win,
NULL,
to_win_state,
game_state->settings.message_duration);
} else if(dealer_score > player_score) {
enqueue(
&(game_state->queue_state),
game_state,
lose,
NULL,
to_lose_state,
game_state->settings.message_duration);
} else if(dealer_score == player_score) {
enqueue(
&(game_state->queue_state),
game_state,
draw,
NULL,
to_draw_state,
game_state->settings.message_duration);
}
} else {
enqueue(
&(game_state->queue_state),
game_state,
drawDealerCard,
NULL,
dealer_card_animation,
game_state->settings.animation_duration);
}
}
void settings_tick(GameState* game_state) {
if(game_state->selectDirection == DirectionDown && game_state->selectedMenu < 4) {
game_state->selectedMenu++;
}
if(game_state->selectDirection == DirectionUp && game_state->selectedMenu > 0) {
game_state->selectedMenu--;
}
if(game_state->selectDirection == DirectionLeft ||
game_state->selectDirection == DirectionRight) {
int nextScore = 0;
switch(game_state->selectedMenu) {
case 0:
nextScore = game_state->settings.starting_money;
if(game_state->selectDirection == DirectionLeft)
nextScore -= 10;
else
nextScore += 10;
if(nextScore >= (int)game_state->settings.round_price && nextScore < 400)
game_state->settings.starting_money = nextScore;
break;
case 1:
nextScore = game_state->settings.round_price;
if(game_state->selectDirection == DirectionLeft)
nextScore -= 10;
else
nextScore += 10;
if(nextScore >= 5 && nextScore <= (int)game_state->settings.starting_money)
game_state->settings.round_price = nextScore;
break;
case 2:
nextScore = game_state->settings.animation_duration;
if(game_state->selectDirection == DirectionLeft)
nextScore -= 100;
else
nextScore += 100;
if(nextScore >= 0 && nextScore < 2000)
game_state->settings.animation_duration = nextScore;
break;
case 3:
nextScore = game_state->settings.message_duration;
if(game_state->selectDirection == DirectionLeft)
nextScore -= 100;
else
nextScore += 100;
if(nextScore >= 0 && nextScore < 2000)
game_state->settings.message_duration = nextScore;
break;
case 4:
game_state->settings.sound_effects = !game_state->settings.sound_effects;
default:
break;
}
}
}
void tick(GameState* game_state) {
game_state->last_tick = furi_get_tick();
bool queue_ran = run_queue(&(game_state->queue_state), game_state);
switch(game_state->state) {
case GameStateGameOver:
case GameStateStart:
if(game_state->selectDirection == Select)
init(game_state);
else if(game_state->selectDirection == DirectionRight) {
game_state->selectedMenu = 0;
game_state->state = GameStateSettings;
}
break;
case GameStatePlay:
if(!game_state->started) {
game_state->selectedMenu = 0;
game_state->started = true;
enqueue(
&(game_state->queue_state),
game_state,
drawDealerCard,
NULL,
dealer_back_card_animation,
game_state->settings.animation_duration);
enqueue(
&(game_state->queue_state),
game_state,
drawPlayerCard,
NULL,
player_card_animation,
game_state->settings.animation_duration);
enqueue(
&(game_state->queue_state),
game_state,
drawDealerCard,
NULL,
dealer_card_animation,
game_state->settings.animation_duration);
enqueue(
&(game_state->queue_state),
game_state,
drawPlayerCard,
NULL,
player_card_animation,
game_state->settings.animation_duration);
}
if(!queue_ran) player_tick(game_state);
break;
case GameStateDealer:
if(!queue_ran) dealer_tick(game_state);
break;
case GameStateSettings:
settings_tick(game_state);
break;
default:
break;
}
game_state->selectDirection = None;
}
void start_round(GameState* game_state) {
game_state->menu->current_menu = 1;
game_state->player_card_count = 0;
game_state->dealer_card_count = 0;
set_menu_state(game_state->menu, 0, true);
game_state->menu->enabled = true;
game_state->started = false;
game_state->doubled = false;
game_state->queue_state.running = true;
shuffle_deck(&(game_state->deck));
game_state->doubled = false;
game_state->bet = game_state->settings.round_price;
if(game_state->player_score < game_state->settings.round_price) {
game_state->state = GameStateGameOver;
} else {
game_state->player_score -= game_state->settings.round_price;
}
game_state->state = GameStatePlay;
}
void init(GameState* game_state) {
set_menu_state(game_state->menu, 0, true);
game_state->menu->enabled = true;
game_state->menu->current_menu = 1;
game_state->settings = load_settings();
game_state->last_tick = 0;
game_state->processing = true;
game_state->selectedMenu = 0;
game_state->player_score = game_state->settings.starting_money;
generate_deck(&(game_state->deck), 6);
start_round(game_state);
}
static void input_callback(InputEvent* input_event, FuriMessageQueue* event_queue) {
furi_assert(event_queue);
AppEvent event = {.type = EventTypeKey, .input = *input_event};
furi_message_queue_put(event_queue, &event, FuriWaitForever);
}
static void update_timer_callback(FuriMessageQueue* event_queue) {
furi_assert(event_queue);
AppEvent event = {.type = EventTypeTick};
furi_message_queue_put(event_queue, &event, 0);
}
void doubleAction(void* state) {
GameState* game_state = state;
if(!game_state->doubled && game_state->player_score >= game_state->settings.round_price) {
game_state->player_score -= game_state->settings.round_price;
game_state->bet += game_state->settings.round_price;
game_state->doubled = true;
enqueue(
&(game_state->queue_state),
game_state,
drawPlayerCard,
NULL,
player_card_animation,
game_state->settings.animation_duration);
game_state->player_cards[game_state->player_card_count] =
game_state->deck.cards[game_state->deck.index];
uint8_t score = hand_count(game_state->player_cards, game_state->player_card_count + 1);
if(score > 21) {
enqueue(
&(game_state->queue_state),
game_state,
lose,
NULL,
to_bust_state,
game_state->settings.message_duration);
} else {
enqueue(
&(game_state->queue_state),
game_state,
dealerTurn,
NULL,
to_dealer_turn,
game_state->settings.message_duration);
}
set_menu_state(game_state->menu, 0, false);
}
}
void hitAction(void* state) {
GameState* game_state = state;
enqueue(
&(game_state->queue_state),
game_state,
drawPlayerCard,
NULL,
player_card_animation,
game_state->settings.animation_duration);
}
void stayAction(void* state) {
GameState* game_state = state;
enqueue(
&(game_state->queue_state),
game_state,
dealerTurn,
NULL,
to_dealer_turn,
game_state->settings.message_duration);
}
int32_t blackjack_app(void* p) {
UNUSED(p);
int32_t return_code = 0;
FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(AppEvent));
GameState* game_state = malloc(sizeof(GameState));
game_state->menu = malloc(sizeof(Menu));
game_state->menu->menu_width = 40;
init(game_state);
add_menu(game_state->menu, "Double", doubleAction);
add_menu(game_state->menu, "Hit", hitAction);
add_menu(game_state->menu, "Stay", stayAction);
set_card_graphics(&I_card_graphics);
game_state->state = GameStateStart;
ValueMutex state_mutex;
if(!init_mutex(&state_mutex, game_state, sizeof(GameState))) {
FURI_LOG_E(APP_NAME, "cannot create mutex\r\n");
return_code = 255;
goto free_and_exit;
}
ViewPort* view_port = view_port_alloc();
view_port_draw_callback_set(view_port, render_callback, &state_mutex);
view_port_input_callback_set(view_port, input_callback, event_queue);
FuriTimer* timer = furi_timer_alloc(update_timer_callback, FuriTimerTypePeriodic, event_queue);
furi_timer_start(timer, furi_kernel_get_tick_frequency() / 25);
Gui* gui = furi_record_open("gui");
gui_add_view_port(gui, view_port, GuiLayerFullscreen);
AppEvent event;
for(bool processing = true; processing;) {
FuriStatus event_status = furi_message_queue_get(event_queue, &event, 100);
GameState* localstate = (GameState*)acquire_mutex_block(&state_mutex);
if(event_status == FuriStatusOk) {
if(event.type == EventTypeKey) {
if(event.input.type == InputTypePress) {
switch(event.input.key) {
case InputKeyUp:
localstate->selectDirection = DirectionUp;
break;
case InputKeyDown:
localstate->selectDirection = DirectionDown;
break;
case InputKeyRight:
localstate->selectDirection = DirectionRight;
break;
case InputKeyLeft:
localstate->selectDirection = DirectionLeft;
break;
case InputKeyBack:
if(localstate->state == GameStateSettings) {
localstate->state = GameStateStart;
save_settings(localstate->settings);
} else
processing = false;
break;
case InputKeyOk:
localstate->selectDirection = Select;
break;
default:
break;
}
}
} else if(event.type == EventTypeTick) {
tick(localstate);
processing = localstate->processing;
}
} else {
//FURI_LOG_D(APP_NAME, "osMessageQueue: event timeout");
// event timeout
}
view_port_update(view_port);
release_mutex(&state_mutex, localstate);
}
furi_timer_free(timer);
view_port_enabled_set(view_port, false);
gui_remove_view_port(gui, view_port);
furi_record_close(RECORD_GUI);
view_port_free(view_port);
delete_mutex(&state_mutex);
free_and_exit:
free(game_state->deck.cards);
free_menu(game_state->menu);
queue_clear(&(game_state->queue_state));
free(game_state);
furi_message_queue_free(event_queue);
return return_code;
}
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Applications/Official/DEV_FW/source/grnch/blackjack/common/card.c
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#include "card.h"
#include "dml.h"
#include "ui.h"
#define CARD_DRAW_X_START 108
#define CARD_DRAW_Y_START 38
#define CARD_DRAW_X_SPACE 10
#define CARD_DRAW_Y_SPACE 8
#define CARD_DRAW_X_OFFSET 4
#define CARD_DRAW_FIRST_ROW_LENGTH 7
uint8_t pips[4][3] = {
{21, 10, 7}, //spades
{7, 10, 7}, //hearts
{0, 10, 7}, //diamonds
{14, 10, 7}, //clubs
};
uint8_t letters[13][3] = {
{0, 0, 5},
{5, 0, 5},
{10, 0, 5},
{15, 0, 5},
{20, 0, 5},
{25, 0, 5},
{30, 0, 5},
{0, 5, 5},
{5, 5, 5},
{10, 5, 5},
{15, 5, 5},
{20, 5, 5},
{25, 5, 5},
};
//region Player card positions
uint8_t playerCardPositions[22][4] = {
//first row
{108, 38},
{98, 38},
{88, 38},
{78, 38},
{68, 38},
{58, 38},
{48, 38},
{38, 38},
//second row
{104, 26},
{94, 26},
{84, 26},
{74, 26},
{64, 26},
{54, 26},
{44, 26},
//third row
{99, 14},
{89, 14},
{79, 14},
{69, 14},
{59, 14},
{49, 14},
};
//endregion
Icon* card_graphics = NULL;
void set_card_graphics(const Icon* graphics) {
card_graphics = (Icon*)graphics;
}
void draw_card_at_colored(
int8_t pos_x,
int8_t pos_y,
uint8_t pip,
uint8_t character,
bool inverted,
Canvas* const canvas) {
DrawMode primary = inverted ? Black : White;
DrawMode secondary = inverted ? White : Black;
draw_rounded_box(canvas, pos_x, pos_y, CARD_WIDTH, CARD_HEIGHT, primary);
draw_rounded_box_frame(canvas, pos_x, pos_y, CARD_WIDTH, CARD_HEIGHT, Black);
uint8_t* drawInfo = pips[pip];
uint8_t px = drawInfo[0], py = drawInfo[1], s = drawInfo[2];
uint8_t left = pos_x + 2;
uint8_t right = (pos_x + CARD_WIDTH - s - 2);
uint8_t top = pos_y + 2;
uint8_t bottom = (pos_y + CARD_HEIGHT - s - 2);
draw_icon_clip(canvas, card_graphics, right, top, px, py, s, s, secondary);
draw_icon_clip_flipped(canvas, card_graphics, left, bottom, px, py, s, s, secondary);
drawInfo = letters[character];
px = drawInfo[0], py = drawInfo[1], s = drawInfo[2];
left = pos_x + 2;
right = (pos_x + CARD_WIDTH - s - 2);
top = pos_y + 2;
bottom = (pos_y + CARD_HEIGHT - s - 2);
draw_icon_clip(canvas, card_graphics, left, top + 1, px, py, s, s, secondary);
draw_icon_clip_flipped(canvas, card_graphics, right, bottom - 1, px, py, s, s, secondary);
}
void draw_card_at(int8_t pos_x, int8_t pos_y, uint8_t pip, uint8_t character, Canvas* const canvas) {
draw_card_at_colored(pos_x, pos_y, pip, character, false, canvas);
}
void draw_deck(const Card* cards, uint8_t count, Canvas* const canvas) {
for(int i = count - 1; i >= 0; i--) {
draw_card_at(
playerCardPositions[i][0],
playerCardPositions[i][1],
cards[i].pip,
cards[i].character,
canvas);
}
}
Vector card_pos_at_index(uint8_t index) {
return (Vector){playerCardPositions[index][0], playerCardPositions[index][1]};
}
void draw_card_back_at(int8_t pos_x, int8_t pos_y, Canvas* const canvas) {
draw_rounded_box(canvas, pos_x, pos_y, CARD_WIDTH, CARD_HEIGHT, White);
draw_rounded_box_frame(canvas, pos_x, pos_y, CARD_WIDTH, CARD_HEIGHT, Black);
draw_icon_clip(canvas, card_graphics, pos_x + 1, pos_y + 1, 35, 0, 15, 21, Black);
}
void generate_deck(Deck* deck_ptr, uint8_t deck_count) {
uint16_t counter = 0;
if(deck_ptr->cards != NULL) {
free(deck_ptr->cards);
}
deck_ptr->deck_count = deck_count;
deck_ptr->card_count = deck_count * 52;
deck_ptr->cards = malloc(sizeof(Card) * deck_ptr->card_count);
for(uint8_t deck = 0; deck < deck_count; deck++) {
for(uint8_t pip = 0; pip < 4; pip++) {
for(uint8_t label = 0; label < 13; label++) {
deck_ptr->cards[counter] = (Card){pip, label, false, false};
counter++;
}
}
}
}
void shuffle_deck(Deck* deck_ptr) {
srand(DWT->CYCCNT);
deck_ptr->index = 0;
int max = deck_ptr->deck_count * 52;
for(int i = 0; i < max; i++) {
int r = i + (rand() % (max - i));
Card tmp = deck_ptr->cards[i];
deck_ptr->cards[i] = deck_ptr->cards[r];
deck_ptr->cards[r] = tmp;
}
}
uint8_t hand_count(const Card* cards, uint8_t count) {
uint8_t aceCount = 0;
uint8_t score = 0;
for(uint8_t i = 0; i < count; i++) {
if(cards[i].character == 12)
aceCount++;
else {
if(cards[i].character > 8)
score += 10;
else
score += cards[i].character + 2;
}
}
for(uint8_t i = 0; i < aceCount; i++) {
if((score + 11) <= 21)
score += 11;
else
score++;
}
return score;
}
void draw_card_animation(
Card animatingCard,
Vector from,
Vector control,
Vector to,
float t,
bool extra_margin,
Canvas* const canvas) {
float time = t;
if(extra_margin) {
time += 0.2;
}
Vector currentPos = quadratic_2d(from, control, to, time);
if(t > 1) {
draw_card_at(
currentPos.x, currentPos.y, animatingCard.pip, animatingCard.character, canvas);
} else {
if(t < 0.5)
draw_card_back_at(currentPos.x, currentPos.y, canvas);
else
draw_card_at(
currentPos.x, currentPos.y, animatingCard.pip, animatingCard.character, canvas);
}
}
void init_hand(Hand* hand_ptr, uint8_t count) {
hand_ptr->cards = malloc(sizeof(Card) * count);
hand_ptr->index = 0;
hand_ptr->max = count;
}
void free_hand(Hand* hand_ptr) {
FURI_LOG_D("CARD", "Freeing hand");
free(hand_ptr->cards);
}
void add_to_hand(Hand* hand_ptr, Card card) {
FURI_LOG_D("CARD", "Adding to hand");
if(hand_ptr->index < hand_ptr->max) {
hand_ptr->cards[hand_ptr->index] = card;
hand_ptr->index++;
}
}
void draw_card_space(int16_t pos_x, int16_t pos_y, bool highlighted, Canvas* const canvas) {
if(highlighted) {
draw_rounded_box_frame(canvas, pos_x, pos_y, CARD_WIDTH, CARD_HEIGHT, Black);
draw_rounded_box_frame(
canvas, pos_x + 2, pos_y + 2, CARD_WIDTH - 4, CARD_HEIGHT - 4, White);
} else {
draw_rounded_box(canvas, pos_x, pos_y, CARD_WIDTH, CARD_HEIGHT, Black);
draw_rounded_box_frame(
canvas, pos_x + 2, pos_y + 2, CARD_WIDTH - 4, CARD_HEIGHT - 4, White);
}
}
int first_non_flipped_card(Hand hand) {
for(int i = 0; i < hand.index; i++) {
if(!hand.cards[i].flipped) {
return i;
}
}
return hand.index;
}
void draw_hand_column(
Hand hand,
int16_t pos_x,
int16_t pos_y,
int8_t highlight,
Canvas* const canvas) {
if(hand.index == 0) {
draw_card_space(pos_x, pos_y, highlight > 0, canvas);
if(highlight == 0)
draw_rounded_box(canvas, pos_x, pos_y, CARD_WIDTH, CARD_HEIGHT, Inverse);
return;
}
int loopEnd = hand.index;
int hStart = max(loopEnd - 4, 0);
int pos = 0;
int first = first_non_flipped_card(hand);
bool wastop = false;
if(first >= 0 && first <= hStart && highlight != first) {
if(first > 0) {
draw_card_back_at(pos_x, pos_y + pos, canvas);
pos += 4;
hStart++;
wastop = true;
}
draw_card_at_colored(
pos_x, pos_y + pos, hand.cards[first].pip, hand.cards[first].character, false, canvas);
pos += 8;
hStart++;
}
if(hStart > highlight && highlight >= 0) {
if(!wastop && first > 0) {
draw_card_back_at(pos_x, pos_y + pos, canvas);
pos += 4;
hStart++;
}
draw_card_at_colored(
pos_x,
pos_y + pos,
hand.cards[highlight].pip,
hand.cards[highlight].character,
true,
canvas);
pos += 8;
hStart++;
}
for(int i = hStart; i < loopEnd; i++, pos += 4) {
if(hand.cards[i].flipped) {
draw_card_back_at(pos_x, pos_y + pos, canvas);
if(i == highlight)
draw_rounded_box(
canvas, pos_x + 1, pos_y + pos + 1, CARD_WIDTH - 2, CARD_HEIGHT - 2, Inverse);
} else {
draw_card_at_colored(
pos_x,
pos_y + pos,
hand.cards[i].pip,
hand.cards[i].character,
(i == highlight),
canvas);
if(i == highlight || i == first) pos += 4;
}
}
}
Card remove_from_deck(uint16_t index, Deck* deck) {
FURI_LOG_D("CARD", "Removing from deck");
Card result = {0, 0, true, false};
if(deck->card_count > 0) {
deck->card_count--;
for(int i = 0, curr_index = 0; i <= deck->card_count; i++) {
if(i != index) {
deck->cards[curr_index] = deck->cards[i];
curr_index++;
} else {
result = deck->cards[i];
}
}
if(deck->index >= 0) {
deck->index--;
}
}
return result;
}
void extract_hand_region(Hand* hand, Hand* to, uint8_t start_index) {
FURI_LOG_D("CARD", "Extracting hand region");
if(start_index >= hand->index) return;
for(uint8_t i = start_index; i < hand->index; i++) {
add_to_hand(to, hand->cards[i]);
}
hand->index = start_index;
}
void add_hand_region(Hand* to, Hand* from) {
FURI_LOG_D("CARD", "Adding hand region");
if((to->index + from->index) <= to->max) {
for(int i = 0; i < from->index; i++) {
add_to_hand(to, from->cards[i]);
}
}
}
Applications/Official/DEV_FW/source/grnch/blackjack/common/card.h
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#pragma once
#include <gui/gui.h>
#include <math.h>
#include <stdlib.h>
#include "dml.h"
#define CARD_HEIGHT 23
#define CARD_HALF_HEIGHT 11
#define CARD_WIDTH 17
#define CARD_HALF_WIDTH 8
//region types
typedef struct {
uint8_t pip; //Pip index 0:spades, 1:hearths, 2:diamonds, 3:clubs
uint8_t character; //Card letter [0-12], 0 means 2, 12 is Ace
bool disabled;
bool flipped;
} Card;
typedef struct {
uint8_t deck_count; //Number of decks used
Card* cards; //Cards in the deck
int card_count;
int index; //Card index (to know where we at in the deck)
} Deck;
typedef struct {
Card* cards; //Cards in the deck
uint8_t index; //Current index
uint8_t max; //How many cards we want to store
} Hand;
//endregion
void set_card_graphics(const Icon* graphics);
/**
* Gets card coordinates at the index (range: 0-20).
*
* @param index Index to check 0-20
* @return Position of the card
*/
Vector card_pos_at_index(uint8_t index);
/**
* Draws card at a given coordinate (top-left corner)
*
* @param pos_x X position
* @param pos_y Y position
* @param pip Pip index 0:spades, 1:hearths, 2:diamonds, 3:clubs
* @param character Letter [0-12] 0 is 2, 12 is A
* @param canvas Pointer to Flipper's canvas object
*/
void draw_card_at(int8_t pos_x, int8_t pos_y, uint8_t pip, uint8_t character, Canvas* const canvas);
/**
* Draws card at a given coordinate (top-left corner)
*
* @param pos_x X position
* @param pos_y Y position
* @param pip Pip index 0:spades, 1:hearths, 2:diamonds, 3:clubs
* @param character Letter [0-12] 0 is 2, 12 is A
* @param inverted Invert colors
* @param canvas Pointer to Flipper's canvas object
*/
void draw_card_at_colored(
int8_t pos_x,
int8_t pos_y,
uint8_t pip,
uint8_t character,
bool inverted,
Canvas* const canvas);
/**
* Draws 'count' cards at the bottom right corner
*
* @param cards List of cards
* @param count Count of cards
* @param canvas Pointer to Flipper's canvas object
*/
void draw_deck(const Card* cards, uint8_t count, Canvas* const canvas);
/**
* Draws card back at a given coordinate (top-left corner)
*
* @param pos_x X coordinate
* @param pos_y Y coordinate
* @param canvas Pointer to Flipper's canvas object
*/
void draw_card_back_at(int8_t pos_x, int8_t pos_y, Canvas* const canvas);
/**
* Generates the deck
*
* @param deck_ptr Pointer to the deck
* @param deck_count Number of decks
*/
void generate_deck(Deck* deck_ptr, uint8_t deck_count);
/**
* Shuffles the deck
*
* @param deck_ptr Pointer to the deck
*/
void shuffle_deck(Deck* deck_ptr);
/**
* Calculates the hand count for blackjack
*
* @param cards List of cards
* @param count Count of cards
* @return Hand value
*/
uint8_t hand_count(const Card* cards, uint8_t count);
/**
* Draws card animation
*
* @param animatingCard Card to animate
* @param from Starting position
* @param control Quadratic lerp control point
* @param to End point
* @param t Current time (0-1)
* @param extra_margin Use extra margin at the end (arrives 0.2 unit before the end so it can stay there a bit)
* @param canvas Pointer to Flipper's canvas object
*/
void draw_card_animation(
Card animatingCard,
Vector from,
Vector control,
Vector to,
float t,
bool extra_margin,
Canvas* const canvas);
/**
* Init hand pointer
* @param hand_ptr Pointer to hand
* @param count Number of cards we want to store
*/
void init_hand(Hand* hand_ptr, uint8_t count);
/**
* Free hand resources
* @param hand_ptr Pointer to hand
*/
void free_hand(Hand* hand_ptr);
/**
* Add card to hand
* @param hand_ptr Pointer to hand
* @param card Card to add
*/
void add_to_hand(Hand* hand_ptr, Card card);
/**
* Draw card placement position at coordinate
* @param pos_x X coordinate
* @param pos_y Y coordinate
* @param highlighted Apply highlight effect
* @param canvas Canvas object
*/
void draw_card_space(int16_t pos_x, int16_t pos_y, bool highlighted, Canvas* const canvas);
/**
* Draws a column of card, displaying the last [max_cards] cards on the list
* @param hand Hand object
* @param pos_x X coordinate to draw
* @param pos_y Y coordinate to draw
* @param highlight Index to highlight, negative means no highlight
* @param canvas Canvas object
*/
void draw_hand_column(
Hand hand,
int16_t pos_x,
int16_t pos_y,
int8_t highlight,
Canvas* const canvas);
/**
* Removes a card from the deck (Be aware, if you remove the first item, the deck index will be at -1 so you have to handle that)
* @param index Index to remove
* @param deck Deck reference
* @return The removed card
*/
Card remove_from_deck(uint16_t index, Deck* deck);
int first_non_flipped_card(Hand hand);
void extract_hand_region(Hand* hand, Hand* to, uint8_t start_index);
void add_hand_region(Hand* to, Hand* from);
Applications/Official/DEV_FW/source/grnch/blackjack/common/dml.c
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#include "dml.h"
#include <math.h>
float lerp(float v0, float v1, float t) {
if(t > 1) return v1;
return (1 - t) * v0 + t * v1;
}
Vector lerp_2d(Vector start, Vector end, float t) {
return (Vector){
lerp(start.x, end.x, t),
lerp(start.y, end.y, t),
};
}
Vector quadratic_2d(Vector start, Vector control, Vector end, float t) {
return lerp_2d(lerp_2d(start, control, t), lerp_2d(control, end, t), t);
}
Vector vector_add(Vector a, Vector b) {
return (Vector){a.x + b.x, a.y + b.y};
}
Vector vector_sub(Vector a, Vector b) {
return (Vector){a.x - b.x, a.y - b.y};
}
Vector vector_mul_components(Vector a, Vector b) {
return (Vector){a.x * b.x, a.y * b.y};
}
Vector vector_div_components(Vector a, Vector b) {
return (Vector){a.x / b.x, a.y / b.y};
}
Vector vector_normalized(Vector a) {
float length = vector_magnitude(a);
return (Vector){a.x / length, a.y / length};
}
float vector_magnitude(Vector a) {
return sqrt(a.x * a.x + a.y * a.y);
}
float vector_distance(Vector a, Vector b) {
return vector_magnitude(vector_sub(a, b));
}
float vector_dot(Vector a, Vector b) {
Vector _a = vector_normalized(a);
Vector _b = vector_normalized(b);
return _a.x * _b.x + _a.y * _b.y;
}
Applications/Official/DEV_FW/source/grnch/blackjack/common/dml.h
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//
// Doofy's Math library
//
#pragma once
typedef struct {
float x;
float y;
} Vector;
#define min(a, b) ((a) < (b) ? (a) : (b))
#define max(a, b) ((a) > (b) ? (a) : (b))
#define abs(x) ((x) > 0 ? (x) : -(x))
/**
* Lerp function
*
* @param v0 Start value
* @param v1 End value
* @param t Time (0-1 range)
* @return Point between v0-v1 at a given time
*/
float lerp(float v0, float v1, float t);
/**
* 2D lerp function
*
* @param start Start vector
* @param end End vector
* @param t Time (0-1 range)
* @return 2d Vector between start and end at time
*/
Vector lerp_2d(Vector start, Vector end, float t);
/**
* Quadratic lerp function
*
* @param start Start vector
* @param control Control point
* @param end End vector
* @param t Time (0-1 range)
* @return 2d Vector at time
*/
Vector quadratic_2d(Vector start, Vector control, Vector end, float t);
/**
* Add vector components together
*
* @param a First vector
* @param b Second vector
* @return Resulting vector
*/
Vector vector_add(Vector a, Vector b);
/**
* Subtract vector components together
*
* @param a First vector
* @param b Second vector
* @return Resulting vector
*/
Vector vector_sub(Vector a, Vector b);
/**
* Multiplying vector components together
*
* @param a First vector
* @param b Second vector
* @return Resulting vector
*/
Vector vector_mul_components(Vector a, Vector b);
/**
* Dividing vector components
*
* @param a First vector
* @param b Second vector
* @return Resulting vector
*/
Vector vector_div_components(Vector a, Vector b);
/**
* Calculating Vector length
*
* @param a Direction vector
* @return Length of the vector
*/
float vector_magnitude(Vector a);
/**
* Get a normalized vector (length of 1)
*
* @param a Direction vector
* @return Normalized vector
*/
Vector vector_normalized(Vector a);
/**
* Calculate two vector's distance
*
* @param a First vector
* @param b Second vector
* @return Distance between vectors
*/
float vector_distance(Vector a, Vector b);
/**
* Calculate the dot product of the vectors.
* No need to normalize, it will do it
*
* @param a First vector
* @param b Second vector
* @return value from -1 to 1
*/
float vector_dot(Vector a, Vector b);
Applications/Official/DEV_FW/source/grnch/blackjack/common/menu.c
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#include "menu.h"
void add_menu(Menu* menu, const char* name, void (*callback)(void*)) {
MenuItem* items = menu->items;
menu->items = malloc(sizeof(MenuItem) * (menu->menu_count + 1));
for(uint8_t i = 0; i < menu->menu_count; i++) {
menu->items[i] = items[i];
}
free(items);
menu->items[menu->menu_count] = (MenuItem){name, true, callback};
menu->menu_count++;
}
void free_menu(Menu* menu) {
free(menu->items);
free(menu);
}
void set_menu_state(Menu* menu, uint8_t index, bool state) {
if(menu->menu_count > index) {
menu->items[index].enabled = state;
}
if(!state && menu->current_menu == index) move_menu(menu, 1);
}
void move_menu(Menu* menu, int8_t direction) {
if(!menu->enabled) return;
int max = menu->menu_count;
for(int8_t i = 0; i < max; i++) {
FURI_LOG_D(
"MENU",
"Iteration %i, current %i, direction %i, state %i",
i,
menu->current_menu,
direction,
menu->items[menu->current_menu].enabled ? 1 : 0);
if(direction < 0 && menu->current_menu == 0) {
menu->current_menu = menu->menu_count - 1;
} else {
menu->current_menu = (menu->current_menu + direction) % menu->menu_count;
}
FURI_LOG_D(
"MENU",
"After process current %i, direction %i, state %i",
menu->current_menu,
direction,
menu->items[menu->current_menu].enabled ? 1 : 0);
if(menu->items[menu->current_menu].enabled) {
FURI_LOG_D("MENU", "Next menu %i", menu->current_menu);
return;
}
}
FURI_LOG_D("MENU", "Not found, setting false");
menu->enabled = false;
}
void activate_menu(Menu* menu, void* state) {
if(!menu->enabled) return;
menu->items[menu->current_menu].callback(state);
}
void render_menu(Menu* menu, Canvas* canvas, uint8_t pos_x, uint8_t pos_y) {
if(!menu->enabled) return;
canvas_set_color(canvas, ColorWhite);
canvas_draw_rbox(canvas, pos_x, pos_y, menu->menu_width + 2, 10, 2);
uint8_t w = pos_x + menu->menu_width;
uint8_t h = pos_y + 10;
uint8_t p1x = pos_x + 2;
uint8_t p2x = pos_x + menu->menu_width - 2;
uint8_t p1y = pos_y + 2;
uint8_t p2y = pos_y + 8;
canvas_set_color(canvas, ColorBlack);
canvas_draw_line(canvas, p1x, pos_y, p2x, pos_y);
canvas_draw_line(canvas, p1x, h, p2x, h);
canvas_draw_line(canvas, pos_x, p1y, pos_x, p2y);
canvas_draw_line(canvas, w, p1y, w, p2y);
canvas_draw_dot(canvas, pos_x + 1, pos_y + 1);
canvas_draw_dot(canvas, w - 1, pos_y + 1);
canvas_draw_dot(canvas, w - 1, h - 1);
canvas_draw_dot(canvas, pos_x + 1, h - 1);
// canvas_draw_rbox(canvas, pos_x, pos_y, menu->menu_width + 2, 10, 2);
canvas_set_font(canvas, FontSecondary);
canvas_draw_str_aligned(
canvas,
pos_x + menu->menu_width / 2,
pos_y + 6,
AlignCenter,
AlignCenter,
menu->items[menu->current_menu].name);
//9*5
int center = pos_x + menu->menu_width / 2;
for(uint8_t i = 0; i < 4; i++) {
for(int8_t j = -i; j <= i; j++) {
canvas_draw_dot(canvas, center + j, pos_y - 4 + i);
canvas_draw_dot(canvas, center + j, pos_y + 14 - i);
}
}
}
Applications/Official/DEV_FW/source/grnch/blackjack/common/menu.h
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#pragma once
#include <furi.h>
#include <gui/gui.h>
typedef struct {
const char* name; //Name of the menu
bool enabled; //Is the menu item enabled (it will not render, you cannot select it)
void (*callback)(
void* state); //Callback for when the activate_menu is called while this menu is selected
} MenuItem;
typedef struct {
MenuItem* items; //list of menu items
uint8_t menu_count; //count of menu items (do not change)
uint8_t current_menu; //currently selected menu item
uint8_t menu_width; //width of the menu
bool enabled; //is the menu enabled (it will not render and accept events when disabled)
} Menu;
/**
* Cleans up the pointers used by the menu
*
* @param menu Pointer of the menu to clean up
*/
void free_menu(Menu* menu);
/**
* Add a new menu item
*
* @param menu Pointer of the menu
* @param name Name of the menu item
* @param callback Callback called on activation
*/
void add_menu(Menu* menu, const char* name, void (*callback)(void*));
/**
* Setting menu item to be enabled/disabled
*
* @param menu Pointer of the menu
* @param index Menu index to set
* @param state Enabled (true), Disabled(false)
*/
void set_menu_state(Menu* menu, uint8_t index, bool state);
/**
* Moves selection up or down
*
* @param menu Pointer of the menu
* @param direction Direction to move -1 down, 1 up
*/
void move_menu(Menu* menu, int8_t direction);
/**
* Triggers the current menu callback
*
* @param menu Pointer of the menu
* @param state Usually your application state
*/
void activate_menu(Menu* menu, void* state);
/**
* Renders the menu at a coordinate (call it in your render function).
*
* Keep in mind that Flipper has a 128x64 pixel screen resolution and the coordinate
* you give is the menu's rectangle top-left corner (arrows not included).
* The rectangle height is 10 px, the arrows have a 4 pixel height. Space needed is 18px.
* The width of the menu can be configured in the menu object.
*
*
* @param menu Pointer of the menu
* @param canvas Flippers Canvas pointer
* @param pos_x X position to draw
* @param pos_y Y position to draw
*/
void render_menu(Menu* menu, Canvas* canvas, uint8_t pos_x, uint8_t pos_y);
Applications/Official/DEV_FW/source/grnch/blackjack/common/queue.c
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#include "queue.h"
void render_queue(const QueueState* queue_state, const void* app_state, Canvas* const canvas) {
if(queue_state->current != NULL && queue_state->current->render != NULL)
((QueueItem*)queue_state->current)->render(app_state, canvas);
}
bool run_queue(QueueState* queue_state, void* app_state) {
if(queue_state->current != NULL) {
queue_state->running = true;
if((furi_get_tick() - queue_state->start) >= queue_state->current->duration)
dequeue(queue_state, app_state);
return true;
}
return false;
}
void dequeue(QueueState* queue_state, void* app_state) {
((QueueItem*)queue_state->current)->callback(app_state);
QueueItem* f = queue_state->current;
queue_state->current = f->next;
free(f);
if(queue_state->current != NULL) {
if(queue_state->current->start != NULL) queue_state->current->start(app_state);
queue_state->start = furi_get_tick();
} else {
queue_state->running = false;
}
}
void queue_clear(QueueState* queue_state) {
queue_state->running = false;
QueueItem* curr = queue_state->current;
while(curr != NULL) {
QueueItem* f = curr;
curr = curr->next;
free(f);
}
}
void enqueue(
QueueState* queue_state,
void* app_state,
void (*done)(void* state),
void (*start)(void* state),
void (*render)(const void* state, Canvas* const canvas),
uint32_t duration) {
QueueItem* next;
if(queue_state->current == NULL) {
queue_state->start = furi_get_tick();
queue_state->current = malloc(sizeof(QueueItem));
next = queue_state->current;
if(next->start != NULL) next->start(app_state);
} else {
next = queue_state->current;
while(next->next != NULL) {
next = (QueueItem*)(next->next);
}
next->next = malloc(sizeof(QueueItem));
next = next->next;
}
next->callback = done;
next->render = render;
next->start = start;
next->duration = duration;
next->next = NULL;
}
Applications/Official/DEV_FW/source/grnch/blackjack/common/queue.h
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#pragma once
#include <gui/gui.h>
#include <furi.h>
typedef struct {
void (*callback)(void* state); //Callback for when the item is dequeued
void (*render)(
const void* state,
Canvas* const canvas); //Callback for the rendering loop while this item is running
void (*start)(void* state); //Callback when this item is started running
void* next; //Pointer to the next item
uint32_t duration; //duration of the item
} QueueItem;
typedef struct {
unsigned int start; //current queue item start time
QueueItem* current; //current queue item
bool running; //is the queue running
} QueueState;
/**
* Enqueue a new item.
*
* @param queue_state The queue state pointer
* @param app_state Your app state
* @param done Callback for dequeue event
* @param start Callback for when the item is activated
* @param render Callback to render loop if needed
* @param duration Length of the item
*/
void enqueue(
QueueState* queue_state,
void* app_state,
void (*done)(void* state),
void (*start)(void* state),
void (*render)(const void* state, Canvas* const canvas),
uint32_t duration);
/**
* Clears all queue items
*
* @param queue_state The queue state pointer
*/
void queue_clear(QueueState* queue_state);
/**
* Dequeues the active queue item. Usually you don't need to call it directly.
*
* @param queue_state The queue state pointer
* @param app_state Your application state
*/
void dequeue(QueueState* queue_state, void* app_state);
/**
* Runs the queue logic (place it in your tick function)
*
* @param queue_state The queue state pointer
* @param app_state Your application state
* @return FALSE when there is nothing to run, TRUE otherwise
*/
bool run_queue(QueueState* queue_state, void* app_state);
/**
* Calls the currently active queue items render callback (if there is any)
*
* @param queue_state The queue state pointer
* @param app_state Your application state
* @param canvas Pointer to Flipper's canvas object
*/
void render_queue(const QueueState* queue_state, const void* app_state, Canvas* const canvas);
Applications/Official/DEV_FW/source/grnch/blackjack/common/ui.c
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#include "ui.h"
#include <gui/canvas_i.h>
#include <u8g2_glue.h>
#include <gui/icon_animation_i.h>
#include <gui/icon.h>
#include <gui/icon_i.h>
#include <furi_hal.h>
TileMap* tileMap;
uint8_t tileMapCount = 0;
void ui_cleanup() {
if(tileMap != NULL) {
for(uint8_t i = 0; i < tileMapCount; i++) {
if(tileMap[i].data != NULL) free(tileMap[i].data);
}
free(tileMap);
}
}
void add_new_tilemap(uint8_t* data, unsigned long iconId) {
TileMap* old = tileMap;
tileMapCount++;
tileMap = malloc(sizeof(TileMap) * tileMapCount);
if(tileMapCount > 1) {
for(uint8_t i = 0; i < tileMapCount; i++) tileMap[i] = old[i];
}
tileMap[tileMapCount - 1] = (TileMap){data, iconId};
}
uint8_t* get_tilemap(unsigned long icon_id) {
for(uint8_t i = 0; i < tileMapCount; i++) {
if(tileMap[i].iconId == icon_id) return tileMap[i].data;
}
return NULL;
}
uint32_t pixel_index(uint8_t x, uint8_t y) {
return y * SCREEN_WIDTH + x;
}
bool in_screen(int16_t x, int16_t y) {
return x >= 0 && x < SCREEN_WIDTH && y >= 0 && y < SCREEN_HEIGHT;
}
unsigned flipBit(uint8_t x, uint8_t bit) {
return x ^ (1 << bit);
}
unsigned setBit(uint8_t x, uint8_t bit) {
return x | (1 << bit);
}
unsigned unsetBit(uint8_t x, uint8_t bit) {
return x & ~(1 << bit);
}
bool test_pixel(uint8_t* data, uint8_t x, uint8_t y, uint8_t w) {
uint8_t current_bit = (y % 8);
uint8_t current_row = ((y - current_bit) / 8);
uint8_t current_value = data[current_row * w + x];
return current_value & (1 << current_bit);
}
uint8_t* get_buffer(Canvas* const canvas) {
return canvas->fb.tile_buf_ptr;
// return canvas_get_buffer(canvas);
}
uint8_t* make_buffer() {
return malloc(sizeof(uint8_t) * 8 * 128);
}
void clone_buffer(uint8_t* canvas, uint8_t* data) {
for(int i = 0; i < 1024; i++) {
data[i] = canvas[i];
}
}
bool read_pixel(Canvas* const canvas, int16_t x, int16_t y) {
if(in_screen(x, y)) {
return test_pixel(get_buffer(canvas), x, y, SCREEN_WIDTH);
}
return false;
}
void set_pixel(Canvas* const canvas, int16_t x, int16_t y, DrawMode draw_mode) {
if(in_screen(x, y)) {
uint8_t current_bit = (y % 8);
uint8_t current_row = ((y - current_bit) / 8);
uint32_t i = pixel_index(x, current_row);
uint8_t* buffer = get_buffer(canvas);
uint8_t current_value = buffer[i];
if(draw_mode == Inverse) {
buffer[i] = flipBit(current_value, current_bit);
} else {
if(draw_mode == White) {
buffer[i] = unsetBit(current_value, current_bit);
} else {
buffer[i] = setBit(current_value, current_bit);
}
}
}
}
void draw_line(
Canvas* const canvas,
int16_t x1,
int16_t y1,
int16_t x2,
int16_t y2,
DrawMode draw_mode) {
for(int16_t x = x2; x >= x1; x--) {
for(int16_t y = y2; y >= y1; y--) {
set_pixel(canvas, x, y, draw_mode);
}
}
}
void draw_rounded_box_frame(
Canvas* const canvas,
int16_t x,
int16_t y,
uint8_t w,
uint8_t h,
DrawMode draw_mode) {
int16_t xMinCorner = x + 1;
int16_t xMax = x + w - 1;
int16_t xMaxCorner = x + w - 2;
int16_t yMinCorner = y + 1;
int16_t yMax = y + h - 1;
int16_t yMaxCorner = y + h - 2;
draw_line(canvas, xMinCorner, y, xMaxCorner, y, draw_mode);
draw_line(canvas, xMinCorner, yMax, xMaxCorner, yMax, draw_mode);
draw_line(canvas, x, yMinCorner, x, yMaxCorner, draw_mode);
draw_line(canvas, xMax, yMinCorner, xMax, yMaxCorner, draw_mode);
}
void draw_rounded_box(
Canvas* const canvas,
int16_t x,
int16_t y,
uint8_t w,
uint8_t h,
DrawMode draw_mode) {
for(int16_t o = w - 2; o >= 1; o--) {
for(int16_t p = h - 2; p >= 1; p--) {
set_pixel(canvas, x + o, y + p, draw_mode);
}
}
draw_rounded_box_frame(canvas, x, y, w, h, draw_mode);
}
void invert_shape(Canvas* const canvas, uint8_t* data, int16_t x, int16_t y, uint8_t w, uint8_t h) {
draw_pixels(canvas, data, x, y, w, h, Inverse);
}
void draw_pixels(
Canvas* const canvas,
uint8_t* data,
int16_t x,
int16_t y,
uint8_t w,
uint8_t h,
DrawMode drawMode) {
for(int8_t o = 0; o < w; o++) {
for(int8_t p = 0; p < h; p++) {
if(in_screen(o + x, p + y) && data[p * w + o] == 1)
set_pixel(canvas, o + x, p + y, drawMode);
}
}
}
void draw_rectangle(
Canvas* const canvas,
int16_t x,
int16_t y,
uint8_t w,
uint8_t h,
DrawMode drawMode) {
for(int8_t o = 0; o < w; o++) {
for(int8_t p = 0; p < h; p++) {
if(in_screen(o + x, p + y)) {
set_pixel(canvas, o + x, p + y, drawMode);
}
}
}
}
void invert_rectangle(Canvas* const canvas, int16_t x, int16_t y, uint8_t w, uint8_t h) {
draw_rectangle(canvas, x, y, w, h, Inverse);
}
uint8_t* image_data(Canvas* const canvas, const Icon* icon) {
uint8_t* data = malloc(sizeof(uint8_t) * 8 * 128);
uint8_t* screen = canvas->fb.tile_buf_ptr;
canvas->fb.tile_buf_ptr = data;
canvas_draw_icon(canvas, 0, 0, icon);
canvas->fb.tile_buf_ptr = screen;
return data;
}
uint8_t* getOrAddIconData(Canvas* const canvas, const Icon* icon) {
uint8_t* icon_data = get_tilemap((unsigned long)icon);
if(icon_data == NULL) {
icon_data = image_data(canvas, icon);
add_new_tilemap(icon_data, (unsigned long)icon);
}
return icon_data;
}
void draw_icon_clip(
Canvas* const canvas,
const Icon* icon,
int16_t x,
int16_t y,
uint8_t left,
uint8_t top,
uint8_t w,
uint8_t h,
DrawMode drawMode) {
uint8_t* icon_data = getOrAddIconData(canvas, icon);
for(int i = 0; i < w; i++) {
for(int j = 0; j < h; j++) {
bool on = test_pixel(icon_data, left + i, top + j, SCREEN_WIDTH);
if(drawMode == Filled) {
set_pixel(canvas, x + i, y + j, on ? Black : White);
} else if(on)
set_pixel(canvas, x + i, y + j, drawMode);
}
}
}
void draw_icon_clip_flipped(
Canvas* const canvas,
const Icon* icon,
int16_t x,
int16_t y,
uint8_t left,
uint8_t top,
uint8_t w,
uint8_t h,
DrawMode drawMode) {
uint8_t* icon_data = getOrAddIconData(canvas, icon);
for(int i = 0; i < w; i++) {
for(int j = 0; j < h; j++) {
bool on = test_pixel(icon_data, left + i, top + j, SCREEN_WIDTH);
if(drawMode == Filled) {
set_pixel(canvas, x + w - i - 1, y + h - j - 1, on ? Black : White);
} else if(on)
set_pixel(canvas, x + w - i - 1, y + h - j - 1, drawMode);
}
}
}
Applications/Official/DEV_FW/source/grnch/blackjack/common/ui.h
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#pragma once
#include <furi.h>
#include <gui/canvas.h>
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
typedef enum {
Black,
White,
Inverse,
Filled //Currently only for Icon clip drawing
} DrawMode;
// size is the screen size
typedef struct {
uint8_t* data;
unsigned long iconId;
} TileMap;
bool test_pixel(uint8_t* data, uint8_t x, uint8_t y, uint8_t w);
uint8_t* image_data(Canvas* const canvas, const Icon* icon);
uint32_t pixel_index(uint8_t x, uint8_t y);
void draw_icon_clip(
Canvas* const canvas,
const Icon* icon,
int16_t x,
int16_t y,
uint8_t left,
uint8_t top,
uint8_t w,
uint8_t h,
DrawMode drawMode);
void draw_icon_clip_flipped(
Canvas* const canvas,
const Icon* icon,
int16_t x,
int16_t y,
uint8_t left,
uint8_t top,
uint8_t w,
uint8_t h,
DrawMode drawMode);
void draw_rounded_box(
Canvas* const canvas,
int16_t x,
int16_t y,
uint8_t w,
uint8_t h,
DrawMode drawMode);
void draw_rounded_box_frame(
Canvas* const canvas,
int16_t x,
int16_t y,
uint8_t w,
uint8_t h,
DrawMode drawMode);
void draw_rectangle(
Canvas* const canvas,
int16_t x,
int16_t y,
uint8_t w,
uint8_t h,
DrawMode drawMode);
void invert_rectangle(Canvas* const canvas, int16_t x, int16_t y, uint8_t w, uint8_t h);
void invert_shape(Canvas* const canvas, uint8_t* data, int16_t x, int16_t y, uint8_t w, uint8_t h);
void draw_pixels(
Canvas* const canvas,
uint8_t* data,
int16_t x,
int16_t y,
uint8_t w,
uint8_t h,
DrawMode drawMode);
bool read_pixel(Canvas* const canvas, int16_t x, int16_t y);
void set_pixel(Canvas* const canvas, int16_t x, int16_t y, DrawMode draw_mode);
void draw_line(
Canvas* const canvas,
int16_t x1,
int16_t y1,
int16_t x2,
int16_t y2,
DrawMode draw_mode);
bool in_screen(int16_t x, int16_t y);
void ui_cleanup();
uint8_t* get_buffer(Canvas* const canvas);
uint8_t* make_buffer();
void clone_buffer(uint8_t* canvas, uint8_t* data);
Applications/Official/DEV_FW/source/grnch/blackjack/defines.h
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#pragma once
#include <furi.h>
#include <input/input.h>
#include <gui/elements.h>
#include <flipper_format/flipper_format.h>
#include <flipper_format/flipper_format_i.h>
#include "common/card.h"
#include "common/queue.h"
#include "common/menu.h"
#define APP_NAME "Blackjack"
#define CONF_ANIMATION_DURATION "AnimationDuration"
#define CONF_MESSAGE_DURATION "MessageDuration"
#define CONF_STARTING_MONEY "StartingMoney"
#define CONF_ROUND_PRICE "RoundPrice"
#define CONF_SOUND_EFFECTS "SoundEffects"
typedef enum {
EventTypeTick,
EventTypeKey,
} EventType;
typedef struct {
uint32_t animation_duration;
uint32_t message_duration;
uint32_t starting_money;
uint32_t round_price;
bool sound_effects;
} Settings;
typedef struct {
EventType type;
InputEvent input;
} AppEvent;
typedef enum {
GameStateGameOver,
GameStateStart,
GameStatePlay,
GameStateSettings,
GameStateDealer,
} PlayState;
typedef enum {
DirectionUp,
DirectionDown,
DirectionRight,
DirectionLeft,
Select,
Back,
None
} Direction;
typedef struct {
Card player_cards[21];
Card dealer_cards[21];
uint8_t player_card_count;
uint8_t dealer_card_count;
Direction selectDirection;
Settings settings;
uint32_t player_score;
uint32_t bet;
uint8_t selectedMenu;
bool doubled;
bool started;
bool processing;
Deck deck;
PlayState state;
QueueState queue_state;
Menu* menu;
unsigned int last_tick;
} GameState;
Applications/Official/DEV_FW/source/grnch/blackjack/ui.c
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#include <math.h>
#include <notification/notification_messages.h>
#include "ui.h"
#define LINE_HEIGHT 16
#define ITEM_PADDING 4
const char MoneyMul[4] = {'K', 'B', 'T', 'S'};
void draw_player_scene(Canvas* const canvas, const GameState* game_state) {
int max_card = game_state->player_card_count;
if(max_card > 0) draw_deck((game_state->player_cards), max_card, canvas);
if(game_state->dealer_card_count > 0) draw_card_back_at(13, 5, canvas);
max_card = game_state->dealer_card_count;
if(max_card > 1) {
draw_card_at(
2, 2, game_state->dealer_cards[1].pip, game_state->dealer_cards[1].character, canvas);
}
}
void draw_dealer_scene(Canvas* const canvas, const GameState* game_state) {
uint8_t max_card = game_state->dealer_card_count;
draw_deck((game_state->dealer_cards), max_card, canvas);
}
void popup_frame(Canvas* const canvas) {
canvas_set_color(canvas, ColorWhite);
canvas_draw_box(canvas, 32, 15, 66, 13);
canvas_set_color(canvas, ColorBlack);
canvas_draw_frame(canvas, 32, 15, 66, 13);
canvas_set_font(canvas, FontSecondary);
}
void draw_play_menu(Canvas* const canvas, const GameState* game_state) {
const char* menus[3] = {"Double", "Hit", "Stay"};
for(uint8_t m = 0; m < 3; m++) {
if(m == 0 &&
(game_state->doubled || game_state->player_score < game_state->settings.round_price))
continue;
int y = m * 13 + 25;
canvas_set_color(canvas, ColorBlack);
if(game_state->selectedMenu == m) {
canvas_set_color(canvas, ColorBlack);
canvas_draw_box(canvas, 1, y, 31, 12);
} else {
canvas_set_color(canvas, ColorWhite);
canvas_draw_box(canvas, 1, y, 31, 12);
canvas_set_color(canvas, ColorBlack);
canvas_draw_frame(canvas, 1, y, 31, 12);
}
if(game_state->selectedMenu == m)
canvas_set_color(canvas, ColorWhite);
else
canvas_set_color(canvas, ColorBlack);
canvas_draw_str_aligned(canvas, 16, y + 6, AlignCenter, AlignCenter, menus[m]);
}
}
void draw_screen(Canvas* const canvas, const bool* points) {
for(uint8_t x = 0; x < 128; x++) {
for(uint8_t y = 0; y < 64; y++) {
if(points[y * 128 + x]) canvas_draw_dot(canvas, x, y);
}
}
}
void draw_score(Canvas* const canvas, bool top, uint8_t amount) {
char drawChar[20];
snprintf(drawChar, sizeof(drawChar), "Player score: %i", amount);
if(top)
canvas_draw_str_aligned(canvas, 64, 2, AlignCenter, AlignTop, drawChar);
else
canvas_draw_str_aligned(canvas, 64, 62, AlignCenter, AlignBottom, drawChar);
}
void draw_money(Canvas* const canvas, uint32_t score) {
canvas_set_font(canvas, FontSecondary);
char drawChar[11];
uint32_t currAmount = score;
if(currAmount < 1000) {
snprintf(drawChar, sizeof(drawChar), "$%lu", currAmount);
} else {
char c = 'K';
for(uint8_t i = 0; i < 4; i++) {
currAmount = currAmount / 1000;
if(currAmount < 1000) {
c = MoneyMul[i];
break;
}
}
snprintf(drawChar, sizeof(drawChar), "$%lu %c", currAmount, c);
}
canvas_draw_str_aligned(canvas, 126, 2, AlignRight, AlignTop, drawChar);
}
void draw_menu(
Canvas* const canvas,
const char* text,
const char* value,
int8_t y,
bool left_caret,
bool right_caret,
bool selected) {
UNUSED(selected);
if(y < 0 || y >= 64) return;
if(selected) {
canvas_set_color(canvas, ColorBlack);
canvas_draw_box(canvas, 0, y, 122, LINE_HEIGHT);
canvas_set_color(canvas, ColorWhite);
}
canvas_draw_str_aligned(canvas, 4, y + ITEM_PADDING, AlignLeft, AlignTop, text);
if(left_caret) canvas_draw_str_aligned(canvas, 80, y + ITEM_PADDING, AlignLeft, AlignTop, "<");
canvas_draw_str_aligned(canvas, 100, y + ITEM_PADDING, AlignCenter, AlignTop, value);
if(right_caret)
canvas_draw_str_aligned(canvas, 120, y + ITEM_PADDING, AlignRight, AlignTop, ">");
canvas_set_color(canvas, ColorBlack);
}
void settings_page(Canvas* const canvas, const GameState* gameState) {
char drawChar[10];
int startY = 0;
if(LINE_HEIGHT * (gameState->selectedMenu + 1) >= 64) {
startY -= (LINE_HEIGHT * (gameState->selectedMenu + 1)) - 64;
}
int scrollHeight = round(64 / 6.0) + ITEM_PADDING * 2;
int scrollPos = 64 / (6.0 / (gameState->selectedMenu + 1)) - ITEM_PADDING * 2;
canvas_set_color(canvas, ColorBlack);
canvas_draw_box(canvas, 123, scrollPos, 4, scrollHeight);
canvas_draw_box(canvas, 125, 0, 1, 64);
snprintf(drawChar, sizeof(drawChar), "%li", gameState->settings.starting_money);
draw_menu(
canvas,
"Start money",
drawChar,
0 * LINE_HEIGHT + startY,
gameState->settings.starting_money > gameState->settings.round_price,
gameState->settings.starting_money < 400,
gameState->selectedMenu == 0);
snprintf(drawChar, sizeof(drawChar), "%li", gameState->settings.round_price);
draw_menu(
canvas,
"Round price",
drawChar,
1 * LINE_HEIGHT + startY,
gameState->settings.round_price > 10,
gameState->settings.round_price < gameState->settings.starting_money,
gameState->selectedMenu == 1);
snprintf(drawChar, sizeof(drawChar), "%li", gameState->settings.animation_duration);
draw_menu(
canvas,
"Anim. length",
drawChar,
2 * LINE_HEIGHT + startY,
gameState->settings.animation_duration > 0,
gameState->settings.animation_duration < 2000,
gameState->selectedMenu == 2);
snprintf(drawChar, sizeof(drawChar), "%li", gameState->settings.message_duration);
draw_menu(
canvas,
"Popup time",
drawChar,
3 * LINE_HEIGHT + startY,
gameState->settings.message_duration > 0,
gameState->settings.message_duration < 2000,
gameState->selectedMenu == 3);
// draw_menu(canvas, "Sound", gameState->settings.sound_effects ? "Yes" : "No",
// 5 * LINE_HEIGHT + startY,
// true,
// true,
// gameState->selectedMenu == 5
// );
}
Applications/Official/DEV_FW/source/grnch/blackjack/ui.h
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#pragma once
#include "defines.h"
#include <gui/gui.h>
void draw_player_scene(Canvas* const canvas, const GameState* game_state);
void draw_dealer_scene(Canvas* const canvas, const GameState* game_state);
void draw_play_menu(Canvas* const canvas, const GameState* game_state);
void draw_score(Canvas* const canvas, bool top, uint8_t amount);
void draw_money(Canvas* const canvas, uint32_t score);
void settings_page(Canvas* const canvas, const GameState* gameState);
void popup_frame(Canvas* const canvas);
void draw_screen(Canvas* const canvas, const bool* points);
Applications/Official/DEV_FW/source/grnch/blackjack/util.c
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#include <storage/storage.h>
#include "util.h"
const char* CONFIG_FILE_PATH = EXT_PATH(".blackjack.settings");
void save_settings(Settings settings) {
Storage* storage = furi_record_open(RECORD_STORAGE);
FlipperFormat* file = flipper_format_file_alloc(storage);
FURI_LOG_D(APP_NAME, "Saving config");
if(flipper_format_file_open_existing(file, CONFIG_FILE_PATH)) {
FURI_LOG_D(
APP_NAME, "Saving %s: %ld", CONF_ANIMATION_DURATION, settings.animation_duration);
flipper_format_update_uint32(
file, CONF_ANIMATION_DURATION, &(settings.animation_duration), 1);
FURI_LOG_D(APP_NAME, "Saving %s: %ld", CONF_MESSAGE_DURATION, settings.message_duration);
flipper_format_update_uint32(file, CONF_MESSAGE_DURATION, &(settings.message_duration), 1);
FURI_LOG_D(APP_NAME, "Saving %s: %ld", CONF_STARTING_MONEY, settings.starting_money);
flipper_format_update_uint32(file, CONF_STARTING_MONEY, &(settings.starting_money), 1);
FURI_LOG_D(APP_NAME, "Saving %s: %ld", CONF_ROUND_PRICE, settings.round_price);
flipper_format_update_uint32(file, CONF_ROUND_PRICE, &(settings.round_price), 1);
FURI_LOG_D(APP_NAME, "Saving %s: %i", CONF_SOUND_EFFECTS, settings.sound_effects ? 1 : 0);
flipper_format_update_bool(file, CONF_SOUND_EFFECTS, &(settings.sound_effects), 1);
FURI_LOG_D(APP_NAME, "Config saved");
} else {
FURI_LOG_E(APP_NAME, "Save error");
}
flipper_format_file_close(file);
flipper_format_free(file);
furi_record_close(RECORD_STORAGE);
}
void save_settings_file(FlipperFormat* file, Settings* settings) {
flipper_format_write_header_cstr(file, CONFIG_FILE_HEADER, CONFIG_FILE_VERSION);
flipper_format_write_comment_cstr(file, "Card animation duration in ms");
flipper_format_write_uint32(file, CONF_ANIMATION_DURATION, &(settings->animation_duration), 1);
flipper_format_write_comment_cstr(file, "Popup message duration in ms");
flipper_format_write_uint32(file, CONF_MESSAGE_DURATION, &(settings->message_duration), 1);
flipper_format_write_comment_cstr(file, "Player's starting money");
flipper_format_write_uint32(file, CONF_STARTING_MONEY, &(settings->starting_money), 1);
flipper_format_write_comment_cstr(file, "Round price");
flipper_format_write_uint32(file, CONF_ROUND_PRICE, &(settings->round_price), 1);
flipper_format_write_comment_cstr(file, "Enable sound effects");
flipper_format_write_bool(file, CONF_SOUND_EFFECTS, &(settings->sound_effects), 1);
}
Settings load_settings() {
Settings settings;
FURI_LOG_D(APP_NAME, "Loading default settings");
settings.animation_duration = 800;
settings.message_duration = 1500;
settings.starting_money = 200;
settings.round_price = 10;
settings.sound_effects = true;
FURI_LOG_D(APP_NAME, "Opening storage");
Storage* storage = furi_record_open(RECORD_STORAGE);
FURI_LOG_D(APP_NAME, "Allocating file");
FlipperFormat* file = flipper_format_file_alloc(storage);
FURI_LOG_D(APP_NAME, "Allocating string");
FuriString* string_value;
string_value = furi_string_alloc();
if(storage_common_stat(storage, CONFIG_FILE_PATH, NULL) != FSE_OK) {
FURI_LOG_D(APP_NAME, "Config file %s not found, creating new one...", CONFIG_FILE_PATH);
if(!flipper_format_file_open_new(file, CONFIG_FILE_PATH)) {
FURI_LOG_E(APP_NAME, "Error creating new file %s", CONFIG_FILE_PATH);
flipper_format_file_close(file);
} else {
save_settings_file(file, &settings);
}
} else {
if(!flipper_format_file_open_existing(file, CONFIG_FILE_PATH)) {
FURI_LOG_E(APP_NAME, "Error opening existing file %s", CONFIG_FILE_PATH);
flipper_format_file_close(file);
} else {
uint32_t value;
bool valueBool;
FURI_LOG_D(APP_NAME, "Checking version");
if(!flipper_format_read_header(file, string_value, &value)) {
FURI_LOG_E(APP_NAME, "Config file mismatch");
} else {
FURI_LOG_D(APP_NAME, "Loading %s", CONF_ANIMATION_DURATION);
if(flipper_format_read_uint32(file, CONF_ANIMATION_DURATION, &value, 1)) {
settings.animation_duration = value;
FURI_LOG_D(APP_NAME, "Loaded %s: %ld", CONF_ANIMATION_DURATION, value);
}
FURI_LOG_D(APP_NAME, "Loading %s", CONF_MESSAGE_DURATION);
if(flipper_format_read_uint32(file, CONF_MESSAGE_DURATION, &value, 1)) {
settings.message_duration = value;
FURI_LOG_D(APP_NAME, "Loaded %s: %ld", CONF_MESSAGE_DURATION, value);
}
FURI_LOG_D(APP_NAME, "Loading %s", CONF_STARTING_MONEY);
if(flipper_format_read_uint32(file, CONF_STARTING_MONEY, &value, 1)) {
settings.starting_money = value;
FURI_LOG_D(APP_NAME, "Loaded %s: %ld", CONF_STARTING_MONEY, value);
}
FURI_LOG_D(APP_NAME, "Loading %s", CONF_ROUND_PRICE);
if(flipper_format_read_uint32(file, CONF_ROUND_PRICE, &value, 1)) {
settings.round_price = value;
FURI_LOG_D(APP_NAME, "Loaded %s: %ld", CONF_ROUND_PRICE, value);
}
FURI_LOG_D(APP_NAME, "Loading %s", CONF_SOUND_EFFECTS);
if(flipper_format_read_bool(file, CONF_SOUND_EFFECTS, &valueBool, 1)) {
settings.sound_effects = valueBool;
FURI_LOG_D(APP_NAME, "Loaded %s: %i", CONF_ROUND_PRICE, valueBool ? 1 : 0);
}
}
flipper_format_file_close(file);
}
}
furi_string_free(string_value);
// flipper_format_file_close(file);
flipper_format_free(file);
furi_record_close(RECORD_STORAGE);
return settings;
}
Applications/Official/DEV_FW/source/grnch/blackjack/util.h
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#pragma once
#include "defines.h"
#define CONFIG_FILE_HEADER "Blackjack config file"
#define CONFIG_FILE_VERSION 1
void save_settings(Settings settings);
Settings load_settings();
Applications/Official/DEV_FW/source/grnch/bpmtapper/LICENSE
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GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
any other work released this way by its authors. You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
them if you wish), that you receive source code or can get it if you
want it, that you can change the software or use pieces of it in new
free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you
these rights or asking you to surrender the rights. Therefore, you have
certain responsibilities if you distribute copies of the software, or if
you modify it: responsibilities to respect the freedom of others.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must pass on to the recipients the same
freedoms that you received. You must make sure that they, too, receive
or can get the source code. And you must show them these terms so they
know their rights.
Developers that use the GNU GPL protect your rights with two steps:
(1) assert copyright on the software, and (2) offer you this License
giving you legal permission to copy, distribute and/or modify it.
For the developers' and authors' protection, the GPL clearly explains
that there is no warranty for this free software. For both users' and
authors' sake, the GPL requires that modified versions be marked as
changed, so that their problems will not be attributed erroneously to
authors of previous versions.
Some devices are designed to deny users access to install or run
modified versions of the software inside them, although the manufacturer
can do so. This is fundamentally incompatible with the aim of
protecting users' freedom to change the software. The systematic
pattern of such abuse occurs in the area of products for individuals to
use, which is precisely where it is most unacceptable. Therefore, we
have designed this version of the GPL to prohibit the practice for those
products. If such problems arise substantially in other domains, we
stand ready to extend this provision to those domains in future versions
of the GPL, as needed to protect the freedom of users.
Finally, every program is threatened constantly by software patents.
States should not allow patents to restrict development and use of
software on general-purpose computers, but in those that do, we wish to
avoid the special danger that patents applied to a free program could
make it effectively proprietary. To prevent this, the GPL assures that
patents cannot be used to render the program non-free.
The precise terms and conditions for copying, distribution and
modification follow.
TERMS AND CONDITIONS
0. Definitions.
"This License" refers to version 3 of the GNU General Public License.
"Copyright" also means copyright-like laws that apply to other kinds of
works, such as semiconductor masks.
"The Program" refers to any copyrightable work licensed under this
License. Each licensee is addressed as "you". "Licensees" and
"recipients" may be individuals or organizations.
To "modify" a work means to copy from or adapt all or part of the work
in a fashion requiring copyright permission, other than the making of an
exact copy. The resulting work is called a "modified version" of the
earlier work or a work "based on" the earlier work.
A "covered work" means either the unmodified Program or a work based
on the Program.
To "propagate" a work means to do anything with it that, without
permission, would make you directly or secondarily liable for
infringement under applicable copyright law, except executing it on a
computer or modifying a private copy. Propagation includes copying,
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To "convey" a work means any kind of propagation that enables other
parties to make or receive copies. Mere interaction with a user through
a computer network, with no transfer of a copy, is not conveying.
An interactive user interface displays "Appropriate Legal Notices"
to the extent that it includes a convenient and prominently visible
feature that (1) displays an appropriate copyright notice, and (2)
tells the user that there is no warranty for the work (except to the
extent that warranties are provided), that licensees may convey the
work under this License, and how to view a copy of this License. If
the interface presents a list of user commands or options, such as a
menu, a prominent item in the list meets this criterion.
1. Source Code.
The "source code" for a work means the preferred form of the work
for making modifications to it. "Object code" means any non-source
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A "Standard Interface" means an interface that either is an official
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is widely used among developers working in that language.
The "System Libraries" of an executable work include anything, other
than the work as a whole, that (a) is included in the normal form of
packaging a Major Component, but which is not part of that Major
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implementation is available to the public in source code form. A
"Major Component", in this context, means a major essential component
(kernel, window system, and so on) of the specific operating system
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Applications/Official/DEV_FW/source/grnch/bpmtapper/README.md
+14
View File
@@ -0,0 +1,14 @@
# BPM Tapper
A BPM Tapper for the Flipper Zero.
![screenshot](img/screenshot.png)
Hit any button other than back repeatedly. Calculates based on the average of the last 8 inputs.
## Compiling
```
./fbt fap_bpm_tapper
```
Applications/Official/DEV_FW/source/grnch/bpmtapper/application.fam
+13
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@@ -0,0 +1,13 @@
App(
appid="BPM_Tapper",
name="BPM Tapper",
apptype=FlipperAppType.EXTERNAL,
entry_point="bpm_tapper_app",
cdefines=["APP_BPM_TAPPER"],
requires=["gui"],
stack_size=2 * 1024,
fap_icon="bpm_10px.png",
fap_icon_assets="icons",
fap_category="Music",
order=35,
)
Applications/Official/DEV_FW/source/grnch/bpmtapper/bpm.c
+261
View File
@@ -0,0 +1,261 @@
#include <furi.h>
#include <furi_hal.h>
#include <dialogs/dialogs.h>
#include <gui/gui.h>
#include <input/input.h>
#include <m-string.h>
#include <stdlib.h>
#include "BPM_Tapper_icons.h"
typedef enum {
EventTypeTick,
EventTypeKey,
} EventType;
typedef struct {
EventType type;
InputEvent input;
} PluginEvent;
//QUEUE
struct node {
int interval;
struct node* next;
};
typedef struct node node;
typedef struct {
int size;
int max_size;
node* front;
node* rear;
} queue;
static void init_queue(queue* q) {
q->size = 0;
q->max_size = 8;
q->front = NULL;
q->rear = NULL;
}
static void queue_remove(queue* q) {
node* tmp;
tmp = q->front;
q->front = q->front->next;
q->size--;
free(tmp);
}
static void queue_add(queue* q, int value) {
node* tmp = malloc(sizeof(node));
tmp->interval = value;
tmp->next = NULL;
if(q->size == q->max_size) {
queue_remove(q);
}
// check if empty
if(q->rear == NULL) {
q->front = tmp;
q->rear = tmp;
} else {
q->rear->next = tmp;
q->rear = tmp;
}
q->size++;
}
static float queue_avg(queue* q) {
float avg = 0.0;
if(q->size == 0) {
return avg;
} else {
node* tmp;
float sum = 0.0;
tmp = q->front;
while(tmp != NULL) {
sum = sum + tmp->interval;
tmp = tmp->next;
}
avg = sum / q->size;
FURI_LOG_D("BPM-Tapper", "Sum: %.2f Avg: %.2f", (double)sum, (double)avg);
return avg;
}
}
// TOO SLOW!
//uint64_t dolphin_state_timestamp() {
// FuriHalRtcDateTime datetime;
// furi_hal_rtc_get_datetime(&datetime);
// return furi_hal_rtc_datetime_to_timestamp(&datetime);
//}
//
typedef struct {
int taps;
double bpm;
uint32_t last_stamp;
uint32_t interval;
queue* tap_queue;
} BPMTapper;
static void show_hello() {
// BEGIN HELLO DIALOG
DialogsApp* dialogs = furi_record_open(RECORD_DIALOGS);
DialogMessage* message = dialog_message_alloc();
const char* header_text = "BPM Tapper";
const char* message_text = "Tap center to start";
dialog_message_set_header(message, header_text, 63, 3, AlignCenter, AlignTop);
dialog_message_set_text(message, message_text, 0, 17, AlignLeft, AlignTop);
dialog_message_set_buttons(message, NULL, "Tap", NULL);
dialog_message_set_icon(message, &I_DolphinCommon_56x48, 72, 17);
dialog_message_show(dialogs, message);
dialog_message_free(message);
furi_record_close(RECORD_DIALOGS);
// END HELLO DIALOG
}
static void input_callback(InputEvent* input_event, FuriMessageQueue* event_queue) {
furi_assert(event_queue);
PluginEvent event = {.type = EventTypeKey, .input = *input_event};
furi_message_queue_put(event_queue, &event, FuriWaitForever);
}
static void render_callback(Canvas* const canvas, void* ctx) {
string_t tempStr;
const BPMTapper* bpm_state = acquire_mutex((ValueMutex*)ctx, 25);
if(bpm_state == NULL) {
return;
}
// border
//canvas_draw_frame(canvas, 0, 0, 128, 64);
canvas_set_font(canvas, FontPrimary);
string_init(tempStr);
string_printf(tempStr, "Taps: %d", bpm_state->taps);
canvas_draw_str_aligned(canvas, 5, 10, AlignLeft, AlignBottom, string_get_cstr(tempStr));
string_reset(tempStr);
string_printf(tempStr, "Queue: %d", bpm_state->tap_queue->size);
canvas_draw_str_aligned(canvas, 70, 10, AlignLeft, AlignBottom, string_get_cstr(tempStr));
string_reset(tempStr);
string_printf(tempStr, "Interval: %dms", bpm_state->interval);
canvas_draw_str_aligned(canvas, 5, 20, AlignLeft, AlignBottom, string_get_cstr(tempStr));
string_reset(tempStr);
string_printf(tempStr, "x2 %.2f /2 %.2f", bpm_state->bpm * 2, bpm_state->bpm / 2);
canvas_draw_str_aligned(canvas, 64, 60, AlignCenter, AlignCenter, string_get_cstr(tempStr));
string_reset(tempStr);
string_printf(tempStr, "%.2f", bpm_state->bpm);
canvas_set_font(canvas, FontBigNumbers);
canvas_draw_str_aligned(canvas, 64, 40, AlignCenter, AlignCenter, string_get_cstr(tempStr));
string_reset(tempStr);
string_clear(tempStr);
release_mutex((ValueMutex*)ctx, bpm_state);
}
static void bpm_state_init(BPMTapper* const plugin_state) {
plugin_state->taps = 0;
plugin_state->bpm = 120.0;
plugin_state->last_stamp = 0; // furi_get_tick();
plugin_state->interval = 0;
queue* q;
q = malloc(sizeof(queue));
init_queue(q);
plugin_state->tap_queue = q;
}
int32_t bpm_tapper_app(void* p) {
UNUSED(p);
FuriMessageQueue* event_queue = furi_message_queue_alloc(8, sizeof(PluginEvent));
BPMTapper* bpm_state = malloc(sizeof(BPMTapper));
// setup
bpm_state_init(bpm_state);
ValueMutex state_mutex;
if(!init_mutex(&state_mutex, bpm_state, sizeof(bpm_state))) {
FURI_LOG_E("BPM-Tapper", "cannot create mutex\r\n");
free(bpm_state);
return 255;
}
show_hello();
// BEGIN IMPLEMENTATION
// Set system callbacks
ViewPort* view_port = view_port_alloc();
view_port_draw_callback_set(view_port, render_callback, &state_mutex);
view_port_input_callback_set(view_port, input_callback, event_queue);
// Open GUI and register view_port
Gui* gui = furi_record_open("gui");
gui_add_view_port(gui, view_port, GuiLayerFullscreen);
PluginEvent event;
for(bool processing = true; processing;) {
FuriStatus event_status = furi_message_queue_get(event_queue, &event, 100);
BPMTapper* bpm_state = (BPMTapper*)acquire_mutex_block(&state_mutex);
if(event_status == FuriStatusOk) {
// press events
if(event.type == EventTypeKey) {
if(event.input.type == InputTypePress) {
switch(event.input.key) {
case InputKeyUp:
case InputKeyDown:
case InputKeyRight:
case InputKeyLeft:
case InputKeyOk:
bpm_state->taps++;
uint32_t new_stamp = furi_get_tick();
if(bpm_state->last_stamp == 0) {
bpm_state->last_stamp = new_stamp;
break;
}
bpm_state->interval = new_stamp - bpm_state->last_stamp;
bpm_state->last_stamp = new_stamp;
queue_add(bpm_state->tap_queue, bpm_state->interval);
float avg = queue_avg(bpm_state->tap_queue);
float bps = 1.0 / (avg / 1000.0);
bpm_state->bpm = bps * 60.0;
break;
case InputKeyBack:
// Exit the plugin
processing = false;
break;
default:
break;
}
}
}
} else {
FURI_LOG_D("BPM-Tapper", "FuriMessageQueue: event timeout");
// event timeout
}
view_port_update(view_port);
release_mutex(&state_mutex, bpm_state);
}
view_port_enabled_set(view_port, false);
gui_remove_view_port(gui, view_port);
furi_record_close("gui");
view_port_free(view_port);
furi_message_queue_free(event_queue);
delete_mutex(&state_mutex);
queue* q = bpm_state->tap_queue;
free(q);
free(bpm_state);
return 0;
}
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author or copyright holder as a result of your choosing to follow a
later version.
15. Disclaimer of Warranty.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
16. Limitation of Liability.
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.
Applications/Official/DEV_FW/source/grnch/caesarcipher/README.md
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# Caesar Cipher
A [caesar cipher](https://en.wikipedia.org/wiki/Caesar_cipher) encoder for the Flipper Zero device.
![input](img/1.png)
![output](img/2.png)
## Usage
Start app, painfully input your ciphertext with the onscreen keyboard. Replace spaces with underscores. Hit "Save", scroll output.
## Compiling
```
./fbt firmware_caesar_cipher
```
Applications/Official/DEV_FW/source/grnch/caesarcipher/application.fam
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App(
appid="Caesar_Cipher",
name="Caesar Cipher",
apptype=FlipperAppType.EXTERNAL,
entry_point="caesar_cipher_app",
cdefines=["APP_CAESAR_CIPHER"],
requires=[
"gui",
],
stack_size=2 * 1024,
fap_icon="caesar_cipher_icon.png",
fap_category="Misc",
order=20,
)
Applications/Official/DEV_FW/source/grnch/caesarcipher/caesar_cipher.c
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#include <furi.h>
#include <input/input.h>
#include <stdlib.h>
#include <gui/gui.h>
#include <gui/view.h>
#include <gui/view_dispatcher.h>
#include <gui/modules/text_input.h>
#include <gui/modules/text_box.h>
#define TEXT_BUFFER_SIZE 256
typedef enum {
EventTypeTick,
EventTypeKey,
} EventType;
typedef struct {
EventType type;
InputEvent input;
} PluginEvent;
typedef struct {
ViewDispatcher* view_dispatcher;
TextInput* text_input;
TextBox* text_box;
char input[TEXT_BUFFER_SIZE];
char output[(TEXT_BUFFER_SIZE * 26) + (26)]; // linebreaks
} CaesarState;
static void string_to_uppercase(char* input) {
int i;
for(i = 0; input[i] != '\0'; i++) {
if(input[i] >= 'a' && input[i] <= 'z') {
input[i] = input[i] - 32;
} else {
input[i] = input[i];
}
}
}
static void build_output(char* input, char* output) {
int out = 0;
for(int rot = 1; rot < 26; rot++) {
int in;
for(in = 0; input[in] != '\0'; in++) {
if(input[in] >= 'A' && input[in] <= 'Z') {
output[out] = 65 + (((input[in] - 65) + rot) % 26);
} else {
output[out] = input[in];
}
out++;
}
output[out] = '\n';
out++;
}
output[out] = '\0';
}
static void text_input_callback(void* ctx) {
CaesarState* caesar_state = acquire_mutex((ValueMutex*)ctx, 25);
FURI_LOG_D("caesar_cipher", "Input text: %s", caesar_state->input);
// this is where we build the output.
string_to_uppercase(caesar_state->input);
FURI_LOG_D("caesar_cipher", "Upper text: %s", caesar_state->input);
build_output(caesar_state->input, caesar_state->output);
text_box_set_text(caesar_state->text_box, caesar_state->output);
view_dispatcher_switch_to_view(caesar_state->view_dispatcher, 1);
release_mutex((ValueMutex*)ctx, caesar_state);
}
static bool back_event_callback(void* ctx) {
const CaesarState* caesar_state = acquire_mutex((ValueMutex*)ctx, 25);
view_dispatcher_stop(caesar_state->view_dispatcher);
release_mutex((ValueMutex*)ctx, caesar_state);
return true;
}
static void caesar_cipher_state_init(CaesarState* const caesar_state) {
caesar_state->view_dispatcher = view_dispatcher_alloc();
caesar_state->text_input = text_input_alloc();
caesar_state->text_box = text_box_alloc();
text_box_set_font(caesar_state->text_box, TextBoxFontText);
}
static void caesar_cipher_state_free(CaesarState* const caesar_state) {
text_input_free(caesar_state->text_input);
text_box_free(caesar_state->text_box);
view_dispatcher_remove_view(caesar_state->view_dispatcher, 0);
view_dispatcher_remove_view(caesar_state->view_dispatcher, 1);
view_dispatcher_free(caesar_state->view_dispatcher);
free(caesar_state);
}
int32_t caesar_cipher_app() {
CaesarState* caesar_state = malloc(sizeof(CaesarState));
FURI_LOG_D("caesar_cipher", "Running caesar_cipher_state_init");
caesar_cipher_state_init(caesar_state);
ValueMutex state_mutex;
if(!init_mutex(&state_mutex, caesar_state, sizeof(CaesarState))) {
FURI_LOG_E("caesar_cipher", "cannot create mutex\r\n");
free(caesar_state);
return 255;
}
FURI_LOG_D("caesar_cipher", "Assigning text input callback");
text_input_set_result_callback(
caesar_state->text_input,
text_input_callback,
&state_mutex,
caesar_state->input,
TEXT_BUFFER_SIZE,
//clear default text
true);
text_input_set_header_text(caesar_state->text_input, "Input");
// Open GUI and register view_port
Gui* gui = furi_record_open("gui");
//gui_add_view_port(gui, view_port, GuiLayerFullscreen);
FURI_LOG_D("caesar_cipher", "Enabling view dispatcher queue");
view_dispatcher_enable_queue(caesar_state->view_dispatcher);
FURI_LOG_D("caesar_cipher", "Adding text input view to dispatcher");
view_dispatcher_add_view(
caesar_state->view_dispatcher, 0, text_input_get_view(caesar_state->text_input));
view_dispatcher_add_view(
caesar_state->view_dispatcher, 1, text_box_get_view(caesar_state->text_box));
FURI_LOG_D("caesar_cipher", "Attaching view dispatcher to GUI");
view_dispatcher_attach_to_gui(
caesar_state->view_dispatcher, gui, ViewDispatcherTypeFullscreen);
FURI_LOG_D("ceasar_cipher", "starting view dispatcher");
view_dispatcher_set_navigation_event_callback(
caesar_state->view_dispatcher, back_event_callback);
view_dispatcher_set_event_callback_context(caesar_state->view_dispatcher, &state_mutex);
view_dispatcher_switch_to_view(caesar_state->view_dispatcher, 0);
view_dispatcher_run(caesar_state->view_dispatcher);
furi_record_close("gui");
delete_mutex(&state_mutex);
caesar_cipher_state_free(caesar_state);
return 0;
}
Applications/Official/DEV_FW/source/grnch/caesarcipher/caesar_cipher_icon.png
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